ROAM-Lab-ND / HS-DDP-MATLAB
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.
☆9Updated last year
Related projects ⓘ
Alternatives and complementary repositories for HS-DDP-MATLAB
- ☆13Updated 2 years ago
- Model predictive control in Python based on quadratic programming☆32Updated 2 months ago
- ☆30Updated last year
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 3 years ago
- ☆9Updated this week
- ☆14Updated 11 months ago
- A collection of MPC walking scripts with various models☆18Updated last month
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- ☆28Updated last year
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Kino-dynamic optimization algorithm for multiped robots☆39Updated 3 years ago
- ☆44Updated 2 years ago
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆36Updated last year
- ICRA 2022 paper☆29Updated 2 months ago
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆59Updated this week
- ☆10Updated 2 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆56Updated 8 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆27Updated 3 weeks ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆47Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆40Updated last month
- Low-Complexity Inverse Kinematics☆51Updated 2 months ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆20Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆58Updated 4 months ago
- Standardised ROS messages for encoding whole-body state information☆15Updated this week
- A robot simulator running on simulink☆31Updated 5 months 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 5 years ago
- ☆18Updated 2 years ago
- Model predictive control applied to dynamic/kinematic models in Python☆15Updated 3 years ago
- TROPIC: TRajectory OPtimization In CasADi☆53Updated 3 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 8 months ago