ROAM-Lab-ND / HS-DDP-MATLABLinks
Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped bounding with Model Hierarchy Predictive Control strategy, and a bouncing ball with elastic impact.
☆14Updated 2 years ago
Alternatives and similar repositories for HS-DDP-MATLAB
Users that are interested in HS-DDP-MATLAB are comparing it to the libraries listed below
Sorting:
- ☆16Updated 3 years ago
- ☆31Updated 2 years ago
- Model predictive control in Python based on quadratic programming☆50Updated 5 months ago
- ☆13Updated last week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Updated last year
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆11Updated 4 years ago
- ☆16Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆56Updated 4 years ago
- ☆46Updated 3 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆18Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21Updated 3 years ago
- Extended version of Featherstone's spatial_v2 package☆66Updated 7 months ago
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆67Updated 3 weeks ago
- ☆29Updated 2 years ago
- ☆36Updated 5 years ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆80Updated 3 weeks ago
- Kino-dynamic optimization algorithm for multiped robots☆46Updated 4 years ago
- ICRA 2022 paper☆40Updated last year
- ☆38Updated 6 years ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆40Updated 3 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 6 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆47Updated last year
- Standardised ROS messages for encoding whole-body state information☆13Updated this week
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- Rigid Body Dynamics Library using Tensorflow☆22Updated 5 years ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago
- Learning Drake from the perspective of a robotics beginner.☆43Updated last year
- System Identification For Constrained Robots☆20Updated 7 months ago
- A robot simulator running on simulink☆35Updated last year