Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR
☆18Jul 4, 2020Updated 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. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- A Contact-Implicit Trajectory Optimization Package☆54Sep 22, 2023Updated 2 years ago
- Differential Dynamic Programming and Iterative LQR in Drake☆78Jun 10, 2024Updated last year
- A global path planner for quadruped robots which considers slope of the terrain as constraint☆18Feb 13, 2026Updated last month
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆162Dec 14, 2022Updated 3 years ago
- ILQR and MPC Control of Swarms using Random Finite Set Theory☆13Mar 6, 2020Updated 6 years ago
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- ☆17Sep 16, 2022Updated 3 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆43Jan 12, 2026Updated 2 months ago
- Contact Planning for Object Manipulation via Monte Carlo Tree Search☆14May 13, 2023Updated 2 years ago
- ☆18Mar 2, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- Implementation of the sl1m solver for multi contact planning☆21Oct 1, 2025Updated 5 months ago
- Learning Model for Aggressive Jumping Maneuvers☆29Mar 5, 2025Updated last year
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click and start building anything your business needs.
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆151Sep 9, 2025Updated 6 months ago
- Local planners for ground robots☆30Mar 3, 2025Updated last year
- [ICRA 2026] Robust Differentiable Collision Detection for General Objects☆31Dec 2, 2025Updated 3 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24May 20, 2025Updated 10 months ago
- ☆14Updated this week
- Matlab iLQR class which will solve for the optimal set of inputs and gains to get to a desired state☆27Dec 21, 2023Updated 2 years ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated last year
- Software stack for MAB and Unitree Quadrupeds☆25Oct 26, 2025Updated 5 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Feb 27, 2024Updated 2 years ago
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click and start building anything your business needs.
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆64Dec 10, 2022Updated 3 years ago
- Environments for training quadruped robots in Isaac Orbit with Reinforcement Learning.☆10Mar 16, 2025Updated last year
- nonlinear solver for the constrained problem☆20Sep 18, 2023Updated 2 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆52Jul 29, 2025Updated 8 months ago
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆21Mar 18, 2024Updated 2 years ago
- A generic sampling-based MPC python library based on jax☆37Jan 30, 2026Updated last month
- book lists from a robot engineer☆39May 9, 2025Updated 10 months ago
- Quaternion Model Predictive Control for Legged Robots☆77Sep 11, 2025Updated 6 months ago
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- ☆27May 30, 2025Updated 9 months ago
- Source code for ST-VIO (Li, H., Stueckler, J.): "Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with …☆18Jul 15, 2024Updated last year
- C++ implementation with Python bindings of analytic forward and inverse kinematics for the Universal Robots.☆14Jan 5, 2026Updated 2 months ago
- whole body control QP solver with full friction cones☆14Nov 5, 2024Updated last year
- A ROS interface to FCL collision checking☆21Jan 28, 2025Updated last year
- A C++ Package for Solving Multiple-Phase Optimal Control Problem Using Adaptive Radau Pseudospectral Methods☆10Aug 31, 2020Updated 5 years ago
- ☆12Mar 11, 2019Updated 7 years ago