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Achievement: Starstruckx2Achievement: Pull SharkAchievement: Arctic Code Vault Contributor

Achievements

Achievement: Starstruckx2Achievement: Pull SharkAchievement: Arctic Code Vault Contributor

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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 142 7

  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 7 1

  3. LinearWalking/LinearWalking LinearWalking/LinearWalking Public

    Example code for our paper "The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control"

    Jupyter Notebook 7