thalesasoares

thalesasoares/dfki-quad

This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller using MPC, WBC and different Gait Sequencers and hardware drivers to be used with different quadrupeds.

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1 Open Issue Need Help Last updated: Jul 21, 2026

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[M4.2] Example passthrough / logging MPC or SLC plugin about 4 hours ago

good first issue modularity go2 controllers

thalesasoares/dfki-quad

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This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller using MPC, WBC and different Gait Sequencers and hardware drivers to be used with different quadrupeds.