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.

语言：Jupyter Notebook · GitHub 星标：196 · Fork：11

话题：legged-robots · mppi · whole-body-control

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