ToyotaResearchInstitute / idto
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
☆86Updated 7 months ago
Alternatives and similar repositories for idto:
Users that are interested in idto are comparing it to the libraries listed below
- A collection of MPC walking scripts with various models☆30Updated 3 months ago
- ☆49Updated last year
- ☆32Updated 3 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- ☆41Updated 2 months ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆76Updated this week
- ☆29Updated last year
- ICRA 2022 paper☆33Updated 5 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆77Updated last week
- ☆30Updated last year
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆32Updated this week
- Real-Time Multi-Contact Model Predictive Control via ADMM☆38Updated 11 months ago
- ☆79Updated this week
- A Contact-Implicit Trajectory Optimization Package☆42Updated last year
- ☆48Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆37Updated 3 years ago
- ☆44Updated 2 years ago
- Demo scripts to quickly start with Crocoddyl☆19Updated 6 months ago
- Differential Dynamic Programming and Iterative LQR in Drake☆62Updated 7 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆97Updated last month
- Humanoid loco-manipulation controller☆30Updated 5 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 6 months ago
- Robotics class☆71Updated 5 months ago
- ☆38Updated 2 years ago
- Low-Complexity Inverse Kinematics☆58Updated 3 weeks ago
- Bipedal robot control using ocs2☆75Updated 5 months ago
- Collection of centroidal control for legged robots☆67Updated 5 months ago
- ☆60Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- ☆30Updated 2 years ago