← Back to Benchmarks
simmediumlocomotionmetric · varies
RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
Description
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners and whole-body locomotion controllers under a consistent API, enabling rapid prototyping and reproducible benchmarking. By leveraging reduced-order models for platform-agnostic gait generation, RoMoCo enables flexible controller design across diverse robots.