An Architecture for the Versatile Control of Legged Robots
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Official codebase for TRILL (Teleoperation and Imitation Learning for Loco-manipulation)
The Dynamic Whole-body Locomotion library (DWL)
Planning and Control Algorithms for Robotics
Python Implementation of Planning and Control
🐕 Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1
XBotControl framework: XBotCore + OpenSoT + CartesI/O
A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and logging utilities, and operator interfaces for robotic systems.
Scripts and configuration files to launch when bringing up REEM-C.
A distributed whole-body model predictive control for quadruped robots
Official implementation of "Words2Contact: Identifying Support Contacts from Verbal Instructions Using Foundation Models" (IEEE-RAS Humanoids 2024).
ROS messages used by the whole-body MPC
Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1
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