heli-sudoo / Multiple-Shooting-DDPView external linksLinks
Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.
☆25Apr 10, 2024Updated last year
Alternatives and similar repositories for Multiple-Shooting-DDP
Users that are interested in Multiple-Shooting-DDP are comparing it to the libraries listed below
Sorting:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- ☆25May 30, 2025Updated 8 months ago
- A collection of MPC walking scripts with various models☆43Feb 5, 2025Updated last year
- pyQpController is the proof of concept simulator attached to the paper: Impact-Friendly Robust Control Design with Task-Space Quadratic O…☆13Apr 13, 2022Updated 3 years ago
- ☆17Sep 10, 2025Updated 5 months ago
- ☆18Aug 28, 2025Updated 5 months ago
- (Modified to Free-Dog-SDK) Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls☆15Nov 6, 2023Updated 2 years ago
- ☆17Sep 16, 2022Updated 3 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 2 years ago
- ☆18Mar 2, 2025Updated 11 months ago
- ☆55Oct 26, 2024Updated last year
- Extended version of Featherstone's spatial_v2 package☆68Mar 24, 2025Updated 10 months ago
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- Generic whole-body controller based on quadratic programming☆20Oct 16, 2024Updated last year
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆18Jul 4, 2020Updated 5 years ago
- C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)☆83Sep 8, 2023Updated 2 years ago
- A generic sampling-based MPC python library based on jax☆36Jan 30, 2026Updated 2 weeks ago
- Nonlinear Distributionally-Robust MPC via Risk-Sensitive Optimal Control in Julia☆21Aug 9, 2021Updated 4 years ago
- Code for learning Trajectory Optimization with GPOPS-II☆23Nov 12, 2020Updated 5 years ago
- Differentiable Model Predictive Control on the GPU☆133Oct 24, 2025Updated 3 months ago
- Differential Dynamic Programming Solver☆20Oct 31, 2018Updated 7 years ago
- Homework 5 of Numerical Optimization in Robotics Class of Shenlan Xueyuan☆31Dec 2, 2022Updated 3 years ago
- ☆28Oct 26, 2022Updated 3 years ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆30Oct 7, 2022Updated 3 years ago
- Example binary running the Pronto state estimator on the ANYmal B robot☆30Mar 28, 2023Updated 2 years ago
- A Julia package for constrained trajectory optimization using direct methods.☆29Jun 12, 2022Updated 3 years ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆42May 2, 2025Updated 9 months ago
- ☆188Mar 6, 2025Updated 11 months ago
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆27Jul 30, 2022Updated 3 years ago
- Conic Augmented Lagrangian Interior-Point SOlver☆77Dec 14, 2022Updated 3 years ago
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆159Sep 22, 2022Updated 3 years ago
- Datasets and code to accompany Briceno-Mena, Luis A. and Venugopalan, Gokul and Romagnoli, José A. and Arges, Christopher G., Machine Lea…☆10Oct 17, 2022Updated 3 years ago
- Repository for Robust Trajectory Optimization with Stochastic Complementarity☆12Dec 15, 2020Updated 5 years ago
- Two-Finger Parallel Gripper Open Source Project☆17Jan 16, 2025Updated last year
- A Fast Solver for Constrained Trajectory Optimization☆87Aug 2, 2023Updated 2 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Jan 12, 2026Updated last month
- STEPP: Semantic Traversability Estimation using Pose Projected features☆41Jan 28, 2025Updated last year
- Sampling based control for kino-dynamic contact aware motion planning.☆34Mar 3, 2021Updated 4 years ago
- ☆15Feb 15, 2025Updated 11 months ago