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OpenLoong-Dyn-Control

  • Software
  • Humanoids and robot learning
  • Framework

A C++ motion control framework for the Qinglong humanoid robot, combining MPC and WBC, runnable in the MuJoCo simulator with walking, jumping and blind obstacle stepping examples.

  • Stale

Made by OpenLoong (Humanoid Robotics (Shanghai), OpenAtom Foundation), China (checked on github.com/loongOpen/OpenLoong-Dyn-Control/blob/main/README… (opens in a new tab)).

Source on GitHub: github.com/loongOpen/OpenLoong-Dyn-Control (opens in a new tab). Facts read at commit 4dd7a7e (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from license (opens in a new tab) (Apache-2.0) at commit 4dd7a7e (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Labels

  • StaleNo commit in 12 months: the newest is from 27 May 2025.

What it does

  • Provides a layered, modular humanoid control framework built on Model Predictive Control (MPC) and Whole-Body Control (WBC).
  • Runs on the MuJoCo simulation platform, based on the Qinglong robot model.
  • Includes three motion examples: walking (walk_wbc), jumping (jump_mpc), and blind obstacle stepping (walk_mpc_wbc).
  • Bundles major dependencies such as MuJoCo, Pinocchio, Eigen, Quill, GLFW and JsonCpp to simplify setup.
  • Exposes tunable MPC weights, WBC task priorities, swing leg trajectory, gait and joint parameters.

Written by Robotheca from the project's README (opens in a new tab) at commit 4dd7a7e.

Getting started

Difficulty
Advanced

Maintenance

Status
Stale: no commit in 12 months
Newest commit
27 May 2025 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.