A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
☆1,085Apr 17, 2023Updated 3 years ago
Alternatives and similar repositories for towr
Users that are interested in towr are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Visualization of Motions for Legged Robots in ros-rviz☆335Dec 9, 2021Updated 4 years ago
- An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)☆866Nov 3, 2025Updated 11 months ago
- An Architecture for the Versatile Control of Legged Robots☆450Oct 31, 2019Updated 6 years ago
- Optimal Control for Switched Systems☆1,529Sep 29, 2026Updated 2 weeks ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆971Updated this week
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,321Updated this week
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,822Feb 13, 2025Updated last year
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆323Jun 20, 2026Updated 3 months ago
- The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control☆1,715Nov 9, 2022Updated 3 years ago
- MIT Cheetah I Implementation☆2,325Jul 4, 2024Updated 2 years ago
- Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"☆1,471Mar 24, 2023Updated 3 years ago
- ☆193Oct 27, 2022Updated 3 years ago
- Efficient optimal control solvers for robotic systems.☆312Dec 22, 2022Updated 3 years ago
- MIT mini cheetah quadruped robot simulated in pybullet environment using ros.☆361Jun 14, 2022Updated 4 years 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.
- Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it…☆110Aug 2, 2021Updated 5 years ago
- Representation-Free Model Predictive Control for Dynamic Quadruped☆240Feb 28, 2025Updated last year
- A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives☆3,795Updated this week
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆352Mar 28, 2025Updated last year
- An open source implementation of MIT Cheetah 3 controllers☆835Dec 5, 2022Updated 3 years ago
- ☆3,323Oct 18, 2023Updated 3 years ago
- The Dynamic Whole-body Locomotion library (DWL)☆93Sep 28, 2018Updated 8 years ago
- Model-based design and verification for robotics.☆4,227Updated this week
- Trajectory Optimization Motion Planner for ROS☆529Updated this week
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- WoLF: Whole-body Locomotion Framework for quadruped robots☆135May 12, 2026Updated 5 months ago
- RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (A…☆709Jun 9, 2025Updated last year
- High-performance interior-point-method QP and QCQP solvers☆711Oct 3, 2026Updated 2 weeks ago
- Robot-centric elevation mapping for rough terrain navigation☆1,891Nov 4, 2024Updated last year
- ☆295Sep 13, 2022Updated 4 years ago
- Awesome Quadrupedal Robots☆1,171Jul 29, 2026Updated 2 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆122Jul 15, 2026Updated 3 months ago
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,747Oct 7, 2026Updated last week
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,186Nov 28, 2023Updated 2 years ago
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,029Apr 26, 2026Updated 5 months ago
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆235Updated this week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆79Feb 29, 2024Updated 2 years ago
- Humanoid walking controller with various baseline methods☆168Mar 25, 2026Updated 6 months ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆85Aug 3, 2026Updated 2 months ago
- Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio☆352Oct 7, 2026Updated last week
- An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.☆592May 20, 2024Updated 2 years ago