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.
☆11Updated last year
Alternatives and similar repositories for HS-DDP-MATLAB:
Users that are interested in HS-DDP-MATLAB are comparing it to the libraries listed below
- ☆14Updated 2 years ago
- ☆31Updated last year
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆11Updated 4 years ago
- ☆12Updated last month
- ☆15Updated last year
- Kino-dynamic optimization algorithm for multiped robots☆44Updated 3 years ago
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆8Updated 4 months ago
- Model predictive control in Python based on quadratic programming☆39Updated 3 weeks ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆19Updated 2 years ago
- A collection of MPC walking scripts with various models☆35Updated 3 months ago
- ☆38Updated 6 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- System Identification For Constrained Robots☆11Updated 2 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
- Real-Time Multi-Contact Model Predictive Control via ADMM☆42Updated last year
- ☆31Updated 5 years ago
- ICRA 2022 paper☆35Updated 8 months ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆67Updated last year
- ☆44Updated 2 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆31Updated last month
- Analytical Contact Jacobian for bipedal robots using URDF☆13Updated last year
- ☆21Updated 2 weeks ago
- ☆25Updated last year
- Hierachical Quadratic Problem solver☆10Updated 12 years ago
- Contact Planning for Object Manipulation via Monte Carlo Tree Search☆14Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆53Updated 3 years ago
- ☆28Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆62Updated 10 months ago
- Python Implementation of Planning and Control☆52Updated last year