PrototypeCommon
jrapudg/RTWholeBodyMPPI
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 a single control policy derived from Model-Predictive Path Integral (MPPI) control.
- Owner
- jrapudg (personal account)
- Stars
- Stars: 196
- Forks
- Forks: 11
- Language
- Jupyter Notebook
- License
- MIT
- Created
- 2024
- Topics
- legged-robotsmppiwhole-body-control
- Tier
- Prototype (100 to 249 ★) What this tier means
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