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Quadruped-PyMPC · iit-DLSLab

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

planning control
Publisher repository ↗
Quadruped-PyMPC · iit-DLSLab resource page screenshot
Resource screenshot · captured 2026-10-09 · visually reviewed

Overview

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Inspect installation instructions, supported versions, examples and interfaces in the source. This directory does not claim the software has been installed or tested on your robot.

Project information

Maintainer
iit-DLSLab
Primary language
Python
Repository code license
BSD-3-Clause
Model-weight license
Not recorded
Dataset license
Not recorded
Hardware design license
Not recorded
Maintenance
Not archived in the last recorded metadata
Last observed repository push
2026-10-05

Code licenses do not automatically cover model weights, datasets or hardware designs. Unrecorded license details require confirmation with the publisher.

Documentation sections

  • Overview
  • Installation and Run
  • How to contribute
  • Citing this work
  • [On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion (IROS-2024)](https://arxiv.org/abs/2403.11383):
  • [Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots (RAL-2025)](https://arxiv.org/abs/2409.01144):

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