https://github.com/vaithak/quadruped-mpc

Implementation of Convex Model Predictive Control for locomotion of MIT cheetah quadruped
https://github.com/vaithak/quadruped-mpc

drake mpc mpc-control pydrake quadruped

Last synced: about 1 month ago
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Implementation of Convex Model Predictive Control for locomotion of MIT cheetah quadruped

• Host: GitHub
• URL: https://github.com/vaithak/quadruped-mpc
• Owner: vaithak
• Created: 2024-11-23T07:44:43.000Z (6 months ago)
• Default Branch: main
• Last Pushed: 2025-03-21T00:13:03.000Z (about 2 months ago)
• Last Synced: 2025-03-21T01:23:19.946Z (about 2 months ago)
• Topics: drake, mpc, mpc-control, pydrake, quadruped
• Language: Python
• Homepage:
• Size: 1.55 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Model Predictive control for Quadruped

### About

This project was done as my course project at UPenn for MEAM 5170: Controls and Optimization with application in AI and Robotics.

This was my first attempt at implementing MPC from scrach using [Drake simulation software](https://drake.mit.edu/).  

I had a hard time tuning and making it work, wasn't able to make it walk. Still, below are some decent screenshots of the working controller for basic standing with different poses.

- Standing on three legs.  

![triped](images/triped-rf.png)

References:

- [Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control](https://dspace.mit.edu/bitstream/handle/1721.1/138000/convex_mpc_2fix.pdf)

- https://github.com/vincekurtz/quadruped_drake/

- https://github.com/yinghansun/pympc-quadruped/