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cheetah-software

kalman-and-bayesian-filters-in-python

Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filters, and more. All exercises include solutions.

legged_control

Nonlinear MPC and WBC for legged robot based on OCS2 and ros-controls

legged_perceptive

mhpc_minimal_env

A minimal environment for Model Hiearchy Predictive Control to work, exampled on a planar quadruped. This code is still under development to be used with the MIT Cheetah Software.

quad-sdk

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

rpc_cheetah

Policy Regularized Model Predictive Control simulated by matlab

trajectory-optimization-for-legged-robots

Trajectory Optimization for Legged Robots by matlab and Casadi

vision-cheetah

MIT mini CHeetah Vision

vmc-qp

VMC+QP力分配， MIT KF方法，未融合加速度

wbc-four-leg-robot-controller

A quadruped robot simulation run in pybullet, which uses whole body control(WBC) based on null space task prority technique

wheeled_biped