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@iit-DLSLab

DLS Lab at Istituto Italiano di Tecnologia, Italy

Dynamic Legged Systems Lab - Design and control of high-performance, versatile legged robots, including planning and perception

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  1. Quadruped-PyMPC Quadruped-PyMPC Public

    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)

    Python 329 32

  2. Panoptic-SLAM Panoptic-SLAM Public

    Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation

    C++ 105 7

  3. muse muse Public

    A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data

    C++ 63 6

  4. mpx mpx Public

    Model Predictive Control in JAX

    Python 53

  5. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 52 2

  6. gym-quadruped gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    Python 43 11

Repositories

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