ADVRHumanoids / horizonLinks
an intuitive optimization tool tailored to robotics, based on CasADi
☆81Updated 3 months ago
Alternatives and similar repositories for horizon
Users that are interested in horizon are comparing it to the libraries listed below
Sorting:
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Updated 3 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆74Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆84Updated last month
- ☆47Updated 3 years ago
- ☆64Updated last week
- ☆107Updated this week
- ICRA 2022 paper☆40Updated last year
- Differential Dynamic Programming and Iterative LQR in Drake☆76Updated last year
- Collection of centroidal control for legged robots☆79Updated 2 months ago
- ☆43Updated 2 years ago
- ☆38Updated 2 years ago
- A Contact-Implicit Trajectory Optimization Package☆53Updated 2 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆141Updated 4 months ago
- Model Predictive Control in JAX☆170Updated last month
- Extended version of Featherstone's spatial_v2 package☆68Updated 9 months ago
- Kino-dynamic optimization algorithm for multiped robots☆47Updated 4 years ago
- ☆55Updated last year
- Python Implementation of Planning and Control☆60Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Updated last week
- Memmo 2020 Summer School☆80Updated 6 months ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆136Updated 2 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆50Updated last year
- ☆31Updated 2 years ago
- A collection of MPC walking scripts with various models☆44Updated 11 months ago
- Implementation of the sl1m solver for multi contact planning☆20Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆56Updated 4 years ago
- Planning and Control Algorithms for Robotics☆67Updated 2 years ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆143Updated 8 months ago