PrototypeCommune
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.
- Propriétaire
- jrapudg (compte personnel)
- Étoiles
- Étoiles : 196
- Forks
- Forks : 11
- Langage
- Jupyter Notebook
- Licence
- MIT
- Création
- 2024
- Sujets
- legged-robotsmppiwhole-body-control
- Rang
- Prototype (100 à 249 ★) Ce que veut dire ce rang
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