egged_control- 主控制堆栈的源码,实现了NMPC和WBC的核心算法。 legged_controllers- 控制器的具体实现,如腿部运动模式控制器。 legged_estimation- 估计相关的组件,可能涉及状态估计或传感器数据处理。 legged_examples- 示例代码,可能含有特定机器人的示例配置或仿真设置。 legged_gazebo- Gazebo仿真相关文件,用于虚拟环...
This branch is up to date with qiayuanl/legged_control:master.Folders and files Name Last commit message Last commit date parent directory .. config Rename "unitree_imu" to "base_imu" Feb 1, 2024 include/legged_gazebo Typo Feb 6, 2023 src Fix error joint velocity in the first step of...
这种方式目前在很多仿真器中使用,比如Pybullet,Gazebo,etc. 对于轨迹规划来说,重点是这个优化问题的互补条件,不是平滑的。(有什么影响呢?) 2.1 Hybrid 方法 这种方法更加简单直接,检测到碰到地面,速度状态变量立马人为跳变。原平滑模型为: \left.\dot{x}=f(x)\Rightarrow\left[\begin{matrix} \dot{q}\\\dot...
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls - legged_control/legged_gazebo/legged_hw_sim_plugins.xml at master · Decdestiny001/legged_control
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls - legged_control/legged_gazebo/legged_hw_sim_plugins.xml at master · WangHongxi2001/legged_control
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls - History for legged_gazebo/legged_hw_sim_plugins.xml - Decdestiny001/legged_control