ROS2-Control implementations for Quadruped robots, include sim2real
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Updated
Feb 22, 2026 - C++
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ocs2
Here are 5 public repositories matching this topic...
Bring-up patches + ROS 2 tooling for OCS2 perceptive nonlinear-MPC on the Unitree Go2 (unitree_mujoco, ROS 2 Jazzy). Implements Grandia et al., IEEE T-RO 2023. Full attribution included.
legged-robots ros2 quadruped model-predictive-control mujoco nonlinear-mpc unitree-go2 ocs2 perceptive-locomotion
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Jul 22, 2026 - Python
ROS 2 controller package for fixed-base inverse/forward dynamics MPC using OCS2 and Pinocchio.
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Jul 21, 2026 - C++
Loco-manipulation of legged robot using MPC, integrated with mujoco sim
mpc locomotion whole-body-control mujoco mujoco-environments loco-manipulation ocs2 centroidal-dynamics
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Updated
Aug 27, 2026 - C++
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