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A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)
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iit-DLSLab/Quadruped-PyMPC
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This repo contains a model predictive controller based on thesingle rigid body model and written inPython. It comes in two flavours: gradient-based viaacados or sampling-based viajax. The controller is tested on real robots and is compatible withMujoco.
Features gradient-based mpc:
- less than 5ms computation on an intel i7-13700H cpu
- optional integrators for model mismatch
- optional smoothing for the ground reaction forces
- optional foothold optimization
- optionalreal-time iteration oradvanced-step real-time iteration
- optional zero moment point/center of mass constraints
- optional lyapunov-based criteria
Features sampling-based mpc:
- 10000 parallel rollouts in less than 2ms on an nvidia 4050 mobile gpu!
- optional step frequency adaptation for enhancing robustness
- implements different strategies:random sampling,mppi, orcemppi
- different control parametrizations: zero-order, linear splines or cubic splines (seemujoco-mpc)
Seehere.
If you find the work useful, please consider citing one of our works:
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion (IROS-2024):
@INPROCEEDINGS{turrisi2024sampling, author={Turrisi, Giulio and Modugno, Valerio and Amatucci, Lorenzo and Kanoulas, Dimitrios and Semini, Claudio}, booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title={On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion}, year={2024}, pages={13757-13764}, doi={10.1109/IROS58592.2024.10801698}}Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots (RAL-2025):
@ARTICLE{elobaid2025adaptivestablempc, author={Elobaid, Mohamed and Turrisi, Giulio and Rapetti, Lorenzo and Romualdi, Giulio and Dafarra, Stefano and Kawakami, Tomohiro and Chaki, Tomohiro and Yoshiike, Takahide and Semini, Claudio and Pucci, Daniele}, journal={IEEE Robotics and Automation Letters}, title={Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots}, year={2025}, volume={10}, number={3}, pages={2806-2813}, doi={10.1109/LRA.2025.3536296}}This repository is maintained byGiulio Turrisi andDaniel Ordonez.
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A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)
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