legged_control

Open-source NMPC + whole-body control + state-estimation stack for quadrupeds built on OCS2 and ros-control, with a sim-to-real path; a popular starting point for model-based legged control.基于 OCS2 与 ros-control 的开源四足控制栈：非线性 MPC + 全身控制 + 状态估计，并支持 sim2real；基于模型的足式控制常用的起点。