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ilqr

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

inverted-pendulum

The classic inverted pendulum simulated in Gazebo.

jumpmaster

learning_cheetah

learnoptimwbc

learnOptimWBC is a Matlab framework to study the combination of learning and multi-task prioritized control for redundant robots.

librealsense

Intel® RealSense™ SDK

lqr-control-for-inverted_pendulum

The goal of this application is to develop a LQR based controller to balance an inverted pendulum. This application is developed as part of the second homework assignment in the course SES 598: Autonomous Exploration Systems at Arizona State University. The LQR function is provided by the python-controls toolbox.

manim

Animation engine for explanatory math videos

milab-cheetah-software

MiLAB quadrupedal robot software

mini-cheetah-gazebo-urdf

mini-cheetah-pybullet

mpc and wbc for mini cheetah in pybullet

mini-cheetah-ros

MIT Mini Cheetah Implementation in ROS

mini_cheetah_sim

minicheetahenv

- a pybullet-gym environment for Mini Cheetah

mit-biomimetics_cheetah

mit-cheetah-note

MIT Cheetah仿真平台源码笔记以及一部分第三方组件

mit_cheetah

MIT Mini Cheetah 电机控制固件

modern_robotics

现代机器人学_随书仿真程序

modernroboticscpp

Modern Robotics: Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness. http://modernrobotics.org/

motor-modeling

mpc

linear MPC based on OSQP

mpc-inverted-pendulum-in-gazebo

gazebo inverted pendulum project

mpc-solver

ocs2_legged_robot_annotated

osqp

The Operator Splitting QP Solver

quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

quadruped_locomotion

quadrupedal_robot

this is a framework for quadrupedal robot

rbdl

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.