An Architecture for the Versatile Control of Legged Robots
The Dynamic Whole-body Locomotion library (DWL)
Planning and Control Algorithms for Robotics
🐕 Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1
Python Implementation of Planning and Control
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.
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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