This repository implements a Convex Model Predictive Controller (MPC) for the Unitree Go2 quadruped robot, including contact-force optimization, centroidal linearized dynamics, Raibert-style foot ...
Error Inputs (Q8.8) Motor Outputs ┌──────────────┐ ┌───────────┐ │ roll_error │── [PID]── [SAT ...
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