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1. RTWholeBodyMPPI RTWholeBodyMPPI Public

   We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using …

   Jupyter Notebook 122 6

2. OCRL-BallbotTrajOptAndControl OCRL-BallbotTrajOptAndControl Public

   Optimizing and tracking whole-body trajectories for a ballbot equipped with arms. By using direct collocation and Time-Variant Linear Quadratic Regulators (TVLQR), the ballbot performs dynamic task…

   Jupyter Notebook 5 1

3. Lidar-Point-Cloud-Processing Lidar-Point-Cloud-Processing Public

   This project filters lidar point cloud, segment ground plane and cluster objects.

   C++ 4 2

4. Behavioural-Cloning Behavioural-Cloning Public

   Car Behavioural Cloning for Udacity Self-Driving-Car ND

   Python 1

5. jax_control_mppi_meshcat jax_control_mppi_meshcat Public

   Jupyter Notebook 1

6. legged_control_pub legged_control_pub Public

   Forked from ShuoYangRobotics/legged_control

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

   Jupyter Notebook 1