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.
☆11Updated 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:
- ☆15Updated 2 years ago
- ☆31Updated 2 years ago
- Model predictive control in Python based on quadratic programming☆44Updated last month
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆11Updated 4 years ago
- Extended version of Featherstone's spatial_v2 package☆59Updated 3 months ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆18Updated 2 years ago
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆68Updated last month
- A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control☆52Updated 3 months ago
- ☆44Updated 3 years ago
- ☆12Updated 2 weeks ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆69Updated last year
- ☆15Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆54Updated 4 years ago
- ICRA 2022 paper☆39Updated 10 months ago
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆8Updated 6 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- Kino-dynamic optimization algorithm for multiped robots☆45Updated 3 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated last year
- ☆32Updated 5 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆19Updated 3 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆51Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆78Updated this week
- ☆23Updated 2 years ago
- Spring Loaded Inverted Pendulum control and visualization python tools☆47Updated 3 years ago
- Algorithm and model experiments for robot motion planning. Implemented in Julia.☆90Updated 3 years ago
- ☆29Updated 2 years ago
- A Contact-Implicit Trajectory Optimization Package☆47Updated last year
- ☆38Updated 6 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 5 years ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆141Updated 2 years ago