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Quadruped-PyMPC · iit-DLSLab
一种基于单刚体模型并用Python编写的四足机器人的模型预测控制器。基于梯度 (acados) 或基于采样 (jax)
概述
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.
项目信息
- 维护者
- iit-DLSLab
- 主要语言
- Python
- 存储库代码许可证
- BSD-3-Clause
- 模型重量许可证
- 未记录
- 数据集许可
- 未记录
- 硬件设计许可证
- 未记录
- 维护
- 未存档在最后记录的元数据中
- 最后观察到的存储库推送
- 2026-10-05
代码许可不会自动涵盖模型权重、数据集或硬件设计。未记录的许可证详细信息需要与发布者确认。
文档部分
- 概述
- 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):
