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mit-cheetah
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Open-source quadruped robot locomotion framework based on MPC+WBC with vision for suitable foothold selection. Simulated in MuJoCo and ROS2-compatible
cpp simulation mpc locomotion whole-body-control lcm legged-robots height-map ros2 quadruped model-predictive-control mujoco wbc quadruped-robot wbic mit-cheetah legged-locomotion quadruped-control perceptive-locomotion quadruped-locomotion
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Updated
Oct 26, 2026 - C++
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