aykutonol / ilqr_citoLinks
Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR
☆18Updated 5 years ago
Alternatives and similar repositories for ilqr_cito
Users that are interested in ilqr_cito are comparing it to the libraries listed below
Sorting:
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆23Updated last year
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆27Updated 3 years ago
- whole body control QP solver with full friction cones☆13Updated last year
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆24Updated last year
- A repo for mpc learner.☆20Updated 2 years ago
- Model predictive control applied to dynamic/kinematic models in Python☆19Updated 4 years ago
- Learning Model for Aggressive Jumping Maneuvers☆25Updated 9 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Updated last year
- A generic sampling-based MPC python library based on jax☆34Updated 2 weeks ago
- A collection of MPC walking scripts with various models☆42Updated 10 months ago
- LTV MPC for Quadruped Locomotion☆17Updated 2 years ago
- ☆13Updated 3 months ago
- ☆46Updated 6 months ago
- Analytical Contact Jacobian for bipedal robots using URDF☆16Updated 2 years ago
- Some Must Read Papers on Optimal Controls of Bipedal Robots☆14Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆47Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆42Updated 4 years ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆39Updated 7 months ago
- ☆52Updated last year
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆68Updated 11 months ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆132Updated 2 weeks ago
- TROPIC: TRajectory OPtimization In CasADi☆56Updated 4 years ago
- Open-source code for Neural Internal Model Control (Neural-IMC)☆38Updated 6 months ago
- pybullet WBC quadruped robot☆11Updated 3 years ago
- ☆63Updated 11 months ago
- Bachelor Thesis - Stabilization of the Variable-Height Inverted Pendulum based on Input-State Stability and Sliding Mode Control under Un…☆11Updated 3 years ago
- Quaternion Model Predictive Control for Legged Robots☆68Updated 2 months ago
- Automatic Tuning for Data-driven Model Predictive Control☆47Updated 2 years ago
- ☆38Updated 2 years ago