AndrewZheng-1011 / Quad_ConvexMPCLinks
LTV MPC for Quadruped Locomotion
☆16Updated 2 years ago
Alternatives and similar repositories for Quad_ConvexMPC
Users that are interested in Quad_ConvexMPC are comparing it to the libraries listed below
Sorting:
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Updated last year
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆22Updated last year
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆18Updated 5 years ago
- whole body control QP solver with full friction cones☆13Updated last year
- Model predictive control applied to dynamic/kinematic models in Python☆19Updated 4 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- ☆31Updated 3 years ago
- ☆24Updated 3 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆67Updated 11 months ago
- A repo for mpc learner.☆20Updated 2 years ago
- Hierachical Quadratic Problem solver☆12Updated 13 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆42Updated 4 years ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆81Updated last week
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆32Updated 4 years ago
- ☆12Updated 11 months ago
- Generic whole-body controller based on quadratic programming☆20Updated last year
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21Updated 3 years ago
- Extended version of Featherstone's spatial_v2 package☆67Updated 7 months ago
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆27Updated 3 years ago
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Updated 4 years ago
- A collection of MPC walking scripts with various models☆42Updated 9 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆53Updated last year
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆35Updated 6 months ago
- A generic sampling-based MPC python library based on jax☆20Updated 2 months ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆42Updated 3 months ago
- This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implemen…☆33Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 2 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆42Updated last week
- ☆43Updated 2 years ago