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bit-xlj's Projects

legged_state_estimator

C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.

The robot model of this repository is based on HighTorque’s 12-degree-of-freedom robot. The two degrees of freedom of the ankle joint are bound together in urdf, and the robot's degree of freedom becomes 10 degrees of freedom. Verified on bridgedp's code.

loco-mujoco

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

mc_mujoco

MuJoCo interface for mc-rtc

mit_cheetah_motor

3-phase motor controller with integrated position sensor

moteus

Brushless servo and quadrupedal robot

motion_planning_for_mobile_robot

深蓝学院高飞老师课程讲义与答案

mpc_learning

B站诸兵老师MPC课程对应的课件和代码

mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

nabo

知乎开源双足机器人（老炮）

namelesscotrunquad_v1.0

无名科创开源飞控群：540707961

ocs2_fun

四足机器人ocs2控制，包含elevation mapping视觉落足的方案，必须学习

ocs2_legged_robot_notes

有关ocs2库的使用的note

odrive

High performance motor control

pythonrobotics

Python sample codes for robotics algorithms.

quad-sdk

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

quad_convexmpc

Representation-Free Model Predictive Control for Dynamic Quadruped

quadrotor_acados

Model Predictive Control for Quadrotor using acados

quadruped-trajectory-optimization-stack

Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.