Simple-Robotics / simple-mpcLinks
C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
☆44Updated 3 weeks ago
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☆43Updated last year
- ICRA 2022 paper☆41Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆84Updated 2 weeks ago
- ☆64Updated last week
- ☆55Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆81Updated last week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Updated last year
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆48Updated last week
- Collection of centroidal control for legged robots☆79Updated 3 months ago
- ☆18Updated 11 months ago
- System Identification For Constrained Robots☆23Updated 11 months ago
- A distributed whole-body model predictive control for quadruped robots☆77Updated 9 months ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆85Updated 7 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆56Updated last week
- Generic whole-body controller based on quadratic programming☆20Updated last year
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- Demo scripts to quickly start with Crocoddyl☆20Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆50Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆57Updated last year
- ☆108Updated this week
- ☆25Updated 8 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- Benchmarking contact models and solvers from robotics simulators.☆44Updated last year
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Updated 4 months ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆42Updated 9 months ago
- MATLAB codes for optimal excitation trajectories☆29Updated 5 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆143Updated 4 months ago
- Differential Dynamic Programming and Iterative LQR in Drake☆77Updated last year
- Model Predictive Control in JAX☆173Updated 2 weeks ago