S-Dafarra / variable-height-double-pendulum
Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"
☆19Updated 3 years ago
Alternatives and similar repositories for variable-height-double-pendulum:
Users that are interested in variable-height-double-pendulum are comparing it to the libraries listed below
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Minimal project using Pinocchio as Rigid Body Dynamics library☆20Updated last week
- A robot simulator running on simulink☆32Updated 7 months ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆10Updated 4 years ago
- Standardised ROS messages for encoding whole-body state information☆13Updated last week
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆36Updated last year
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆8Updated last month
- ☆10Updated last week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆64Updated 10 months ago
- ☆28Updated last year
- Model predictive control in Python based on quadratic programming☆33Updated 4 months ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆49Updated this week
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆10Updated last year
- YARP devices that implement estimators for humanoid robots.☆26Updated 6 months ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆16Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- Generic whole-body controller based on quadratic programming☆14Updated 3 months ago
- Model predictive control based on data-driven model☆25Updated last year
- Non-linear model predictive control (NMPC) library☆42Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 6 months ago
- ☆14Updated 2 years ago
- ☆29Updated 4 years ago
- ☆20Updated 11 months ago
- Repository associated with the paper "Whole-Body Trajectory Optimization for Robot Multimodal Locomotion".☆23Updated last year
- ☆20Updated 2 years ago
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 4 years ago
- ☆23Updated 4 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆37Updated 7 months ago