NPS-SRL / SPARTLinks
Open-source modeling and control toolkit for mobile-base robotic multibody systems
☆46Updated 7 years ago
Alternatives and similar repositories for SPART
Users that are interested in SPART are comparing it to the libraries listed below
Sorting:
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆32Updated 4 years ago
- Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).☆93Updated 4 years ago
- Examples of efficient trajectory optimization for robot motion planning☆97Updated 5 years ago
- A few simple tutorials for dynamical systems and control. Most require Matlab.☆111Updated 9 years ago
- The course website for 'Optimal Control for Robotics', which I taught at Tufts University in Spring 2018☆55Updated 7 years ago
- Matlab scripts to compute Euler-Lagrange dynamic models of a large number of robot manipulators.☆27Updated 4 years ago
- Aerial Manipulator for Gazebo☆33Updated 3 years ago
- Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to g…☆97Updated 5 years ago
- Contains all the functions (such as hat map, rotations, transport map, etc.) used during the development of geometric mechanics and contr…☆20Updated 4 years ago
- TROPIC: TRajectory OPtimization In CasADi☆56Updated 4 years ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆81Updated last week
- Learning Drake from the perspective of a robotics beginner.☆43Updated last year
- Linear Temporal Logic Motion Planning with Graphs of Convex Sets☆54Updated 2 years ago
- Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles☆52Updated 2 years ago
- Simulink-based whole body controllers for humanoid robots.☆143Updated 10 months ago
- Python library for getting a casadi function for the forward kinematics of a URDF chain☆117Updated last year
- Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relati…☆15Updated 6 years ago
- Cartesian Impedance Control of Quadrotor with a Robotic Arm☆46Updated 5 years ago
- Torque Limited Simple Pendulum Underactuated System☆60Updated last year
- Calculates the dynamic equations of motion of a N DOF robot arm using the Lagrangian formulation.☆37Updated 5 years ago
- Set of exercises accompanying the ICRA 2019 Tutorial on Dynamical System based Learning from Demonstration: https://epfl-lasa.github.io/T…☆66Updated 5 years ago
- List of literature and software for optimal control and numerical optimization.☆78Updated 6 years ago
- Stochastic Trajectory Optimization for Motion Planning (STOMP)☆28Updated 2 years ago
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆27Updated 4 years ago
- ROS examples for the control toolbox☆39Updated 5 years ago
- Code accompanying the paper "Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles" by K. Hauser☆52Updated 5 years ago
- Model predictive control applied to dynamic/kinematic models in Python☆19Updated 4 years ago
- The Spacedyn is a library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base writ…☆52Updated 11 months ago
- ☆93Updated 11 months ago
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆67Updated 2 years ago