Simple-Robotics / simple-mpcLinks
C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
☆34Updated 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☆36Updated 3 months ago
- ICRA 2022 paper☆37Updated 9 months ago
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆8Updated 5 months ago
- Benchmarking contact models and solvers from robotics simulators.☆33Updated 10 months ago
- ☆37Updated 7 months ago
- Collection of centroidal control for legged robots☆78Updated last week
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆62Updated 10 months ago
- ☆57Updated last week
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆58Updated 2 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆50Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆99Updated 11 months ago
- System Identification For Constrained Robots☆11Updated 3 months ago
- Implementation of the sl1m solver for multi contact planning☆19Updated 2 years ago
- Demo scripts to quickly start with Crocoddyl☆19Updated 11 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago
- Kino-dynamic optimization algorithm for multiped robots☆44Updated 3 years ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆45Updated last week
- ☆20Updated last month
- Humanoid multi-contact motion controller☆36Updated 3 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆39Updated last month
- Humanoid loco-manipulation controller☆31Updated 3 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- ☆31Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆78Updated this week
- ☆44Updated 3 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆19Updated 3 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆67Updated last year
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆112Updated 2 weeks ago
- Low-Complexity Inverse Kinematics☆79Updated last month