Simple-Robotics / simple-mpcLinks
C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
☆42Updated this week
Alternatives and similar repositories for simple-mpc
Users that are interested in simple-mpc are comparing it to the libraries listed below
Sorting:
- A collection of MPC walking scripts with various models☆42Updated 7 months ago
- ICRA 2022 paper☆39Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆67Updated 3 weeks ago
- A distributed whole-body model predictive control for quadruped robots☆65Updated 5 months ago
- ☆60Updated this week
- ☆47Updated 11 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Updated last year
- System Identification For Constrained Robots☆17Updated 7 months ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆80Updated this week
- Collection of centroidal control for legged robots☆79Updated 4 months ago
- ☆17Updated 7 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆42Updated 2 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆68Updated last year
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆54Updated this week
- Model Predictive Control in JAX☆107Updated last week
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆52Updated last year
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆83Updated 3 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆115Updated 4 months ago
- C++ library for optimization-based control of redundant robots☆63Updated last month
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 5 months ago
- ☆23Updated 4 months ago
- Implementation of the sl1m solver for multi contact planning☆19Updated this week
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆125Updated 3 weeks ago
- Humanoid loco-manipulation controller☆33Updated 7 months ago
- Benchmarking contact models and solvers from robotics simulators.☆38Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆46Updated last year
- Quaternion Model Predictive Control for Legged Robots☆62Updated 3 weeks ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆115Updated 3 months ago
- ☆54Updated 6 years ago