This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Control (MPC) foot placement planner and (2) a gait controller which takes the foot placement solution as an input. This controller enables improved stability for walking on a variety of sloped and textured terrains. The controller is implemented on the Agility Robotics Cassie Robot.

Repo containing the urdf and frost based models of Cassie

UDRF model of CASSIE robot

Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.

A high-level Model Predictive Control (MPC) algorithm that guides the Cassie bipedal robot on hovershoes to follow reference trajectories in simulation.

No description available

A trajectory optimization MPC (Model Predictive Control) controller for Cassie based on Flatground Controller

Emotion detection AI model developed by Rain, Evan, Cassie and Tim (RECT) at the University of Toronto.

An AI model for the Retrieval-based Voice Conversion (RVC) utility to emulate CASSIE from SCP: Secret Laboratory

This is a simple program to test UDP communication between the Cassie simulink realtime model and a c++ user computer program. It includes the provided agility communication code.