Simple-Robotics / simple-mpc
C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
☆31Updated last month
Alternatives and similar repositories for simple-mpc:
Users that are interested in simple-mpc are comparing it to the libraries listed below
- A collection of MPC walking scripts with various models☆35Updated 3 months ago
- Benchmarking contact models and solvers from robotics simulators.☆32Updated 9 months ago
- ICRA 2022 paper☆35Updated 8 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆109Updated last month
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆37Updated this week
- Collection of centroidal control for legged robots☆74Updated 9 months ago
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆8Updated 4 months ago
- ☆56Updated last week
- an intuitive optimization tool tailored to robotics, based on CasADi☆76Updated 2 weeks ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆95Updated 10 months ago
- ☆35Updated 6 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- Kino-dynamic optimization algorithm for multiped robots☆44Updated 3 years ago
- System Identification For Constrained Robots☆11Updated 2 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆54Updated last month
- Demo scripts to quickly start with Crocoddyl☆19Updated 10 months ago
- Differential Dynamic Programming and Iterative LQR in Drake☆67Updated 10 months ago
- Humanoid multi-contact motion controller☆35Updated 3 months ago
- ☆14Updated 2 years ago
- ☆21Updated 2 weeks ago
- Deep Reinforcement Learning for bipedal robots☆10Updated last year
- Humanoid loco-manipulation controller☆30Updated 3 months ago
- ☆42Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆49Updated 11 months ago
- ☆44Updated 2 years ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆26Updated 5 months ago
- A distributed whole-body model predictive control for quadruped robots☆45Updated last week
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆62Updated 10 months ago
- Analytical Contact Jacobian for bipedal robots using URDF☆13Updated last year
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago