基于convexMPC算法的多足机器人运动控制器,使用Python复现了MIT Chteeah3的控制框架。 搭建了基于Mujoco的多足机器人仿真环境。
- OSQP
- QPOASES
- pybind11
- mujoco
- mujoco-python-viewer
MPC算法使用C语言实现,采用pybind11搭建python接口。由于不同平台环境存在差异,使用前需要自行编译生成对应库文件。编译方式可参考convex_MPC中的CMakeLists文件。
多足机器人MPC控制器+仿真环境
License: MIT License
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