Simple-Robotics / simple-mpcLinks
C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
☆39Updated last 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☆38Updated 5 months ago
- ☆59Updated this week
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆60Updated 3 months ago
- ICRA 2022 paper☆39Updated 10 months ago
- Collection of centroidal control for legged robots☆80Updated last month
- an intuitive optimization tool tailored to robotics, based on CasADi☆78Updated this week
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 months ago
- Benchmarking contact models and solvers from robotics simulators.☆36Updated 11 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆108Updated last year
- System Identification For Constrained Robots☆11Updated 4 months ago
- ☆39Updated 8 months ago
- Implementation of the sl1m solver for multi contact planning☆19Updated 2 years ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆40Updated 2 months ago
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆8Updated 6 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆112Updated last month
- Model Predictive Control in JAX☆53Updated this week
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆50Updated last year
- Differential Dynamic Programming and Iterative LQR in Drake☆68Updated last year
- Humanoid loco-manipulation controller☆31Updated 5 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆51Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated last year
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆48Updated this week
- ☆94Updated this week
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆68Updated 3 months ago
- Kino-dynamic optimization algorithm for multiped robots☆45Updated 3 years ago
- C++ library for optimization-based control of redundant robots☆57Updated last month
- MATLAB codes for optimal excitation trajectories☆26Updated 4 years ago
- ☆16Updated 4 months ago