whole-body-control
There are 16 repositories under whole-body-control topic.
leggedrobotics/free_gait
An Architecture for the Versatile Control of Legged Robots
ihmcrobotics/ihmc-open-robotics-software
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.
real-stanford/umi-on-legs
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
UT-Austin-RPL/TRILL
Official codebase for Teleoperation and Imitation Learning for Loco-manipulation (TRILL)
robot-locomotion/dwl
The Dynamic Whole-body Locomotion library (DWL)
junhyeokahn/PnC
Planning and Control Algorithms for Robotics
junhyeokahn/PyPnC
Python Implementation of Planning and Control
ADVRHumanoids/XBotControl
XBotControl framework: XBotCore + OpenSoT + CartesI/O
danisotelo/qm_door
Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1
shbang91/rpc
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.
pal-robotics/reemc_robot
Scripts and configuration files to launch when bringing up REEM-C.
ocra-recipes/ocra-wbi-plugins
Controller implementations and plugins for communicating between the whole body controller libraries developed at ISIR, ocra-recipes, and the iCub Whole Body Interface, WBI, libraries.
RobotMotorIntelligence/whole_body_mpc_msgs
ROS messages used by the whole-body MPC