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 distributed whole-body model predictive control for quadruped robots

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.

ROS messages used by the whole-body MPC

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.

Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1