WB MPC LOCOMAN
// A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multipl...
Wb Mpc Locoman
A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multipl...
13EmergingUnknown
What it does
Official code for the paper: Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation, IEEE Robotics and Automation Letters (RA-L) 2025. Lukas Molnar, Jin Cheng, Gabriele Fadini, Dongho Kang, Fatemeh Zargarbashi, Stelian Coros. ETH Zurich Paper | arXiv | Video | Website Create conda environment: Run the main script: Within the script, the following parameters are defined: - Robot: Model and
Getting Started
git
git clone https://github.com/lukasmolnar/wb-mpc-locoman