The course text for MIT 6.832 (and 6.832x on edX)
☆924Mar 18, 2026Updated this week
Alternatives and similar repositories for underactuated
Users that are interested in underactuated are comparing it to the libraries listed below
Sorting:
- Course notes for MIT manipulation class☆607Mar 8, 2026Updated last week
- Model-based design and verification for robotics.☆3,940Updated this week
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,180Updated this week
- A planning, control, and analysis toolbox for nonlinear dynamical systems. Please see the WIKI for documentation.☆53Mar 17, 2025Updated last year
- A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives☆3,161Updated this week
- Examples of how to use Drake in your own project.☆123Mar 14, 2026Updated last week
- Optimal Control for Switched Systems☆1,312Mar 13, 2026Updated last week
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆1,047Apr 17, 2023Updated 2 years ago
- The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control☆1,666Nov 9, 2022Updated 3 years ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆918Updated this week
- Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"☆1,396Mar 24, 2023Updated 2 years ago
- An open source implementation of MIT Cheetah 3 controllers☆810Dec 5, 2022Updated 3 years ago
- ☆335Updated this week
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆207Mar 11, 2026Updated last week
- An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)☆850Nov 3, 2025Updated 4 months ago
- Sampling-based model predictive control on GPU with JAX/MJX☆256Updated this week
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,577Feb 18, 2026Updated last month
- ☆147Oct 13, 2023Updated 2 years ago
- Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio☆310Updated this week
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,611Feb 13, 2025Updated last year
- A fast trajectory optimization library written in Julia☆393Mar 27, 2025Updated 11 months ago
- High-performance interior-point-method QP and QCQP solvers☆669Feb 18, 2026Updated last month
- A trajectory optimization library for Matlab☆699Jun 6, 2023Updated 2 years ago
- ☆102Mar 10, 2026Updated last week
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- A GPU accelerated library for computing rigid body dynamics with analytical gradients☆123Apr 17, 2023Updated 2 years ago
- Trajectory Optimization Motion Planner for ROS☆485Mar 9, 2026Updated last week
- Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch☆681Updated this week
- Remotely-controllable 3D viewer, built on top of three.js☆317Nov 10, 2025Updated 4 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Sep 30, 2025Updated 5 months ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆295Nov 11, 2025Updated 4 months ago
- ☆190Oct 27, 2022Updated 3 years ago
- Visit www.raisim.com☆416Jan 1, 2026Updated 2 months ago
- Memmo 2020 Summer School☆79Jun 22, 2025Updated 8 months ago
- Awesome Quadrupedal Robots☆1,034Mar 2, 2026Updated 2 weeks ago
- WebGL-based 3D visualizer for Python☆293May 7, 2024Updated last year
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,351Updated this week
- Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencie…☆1,352Oct 18, 2024Updated last year
- ☆3,143Oct 18, 2023Updated 2 years ago