# jrapudg/RTWholeBodyMPPI

<https://repo.masters-masters.com/en/repos/jrapudg/RTWholeBodyMPPI>

[Home](https://repo.masters-masters.com/en) › [jrapudg](https://repo.masters-masters.com/en/owners/jrapudg) › [RTWholeBodyMPPI](https://repo.masters-masters.com/en/repos/jrapudg/RTWholeBodyMPPI)

jrapudg/RTWholeBodyMPPI has 196 stars on GitHub. Its RepoMasters card: Prototype tier. We present the first successful deployment of a whole-body…

| Field | Value |
| --- | --- |
| Owner | [jrapudg](https://repo.masters-masters.com/en/owners/jrapudg) |
| Stars | 196 |
| Forks | 11 |
| Language | [Jupyter Notebook](https://repo.masters-masters.com/en/languages/jupyter-notebook) |
| License | MIT |
| Created | 2024 |
| Topics | legged-robots, mppi, whole-body-control |
| Tier | [Prototype (100 to 249 ★)](https://repo.masters-masters.com/en/ranks/rush) |
| View on GitHub | [jrapudg/RTWholeBodyMPPI](https://github.com/jrapudg/RTWholeBodyMPPI) |

## Repository

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.

The tier for repos with 100 to 249 ★. Published odds per card pulled: 70%. Rarity: Common.

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Data: GitHub · Illustration drawn by RepoMasters from the repo’s ID and its language color.