imgeorgiev / ddp
Differential Dynamic Programming (DDP) with automatic symbolic differentiation
☆33Updated last year
Related projects: ⓘ
- ☆30Updated last year
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆20Updated last year
- ☆13Updated 2 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆16Updated last year
- Model predictive control in Python based on quadratic programming☆31Updated 3 weeks ago
- A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control☆38Updated 2 weeks ago
- ☆14Updated 9 months ago
- ☆39Updated this week
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆9Updated last year
- ☆25Updated 2 years ago
- Automatic Tuning for Data-driven Model Predictive Control☆30Updated last year
- ☆37Updated 5 years ago
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆25Updated 3 years ago
- ☆43Updated 2 years ago
- A Contact-Implicit Trajectory Optimization Package☆38Updated 11 months ago
- Python Implementation of Planning and Control☆45Updated 6 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 7 months ago
- A Fast Solver for Constrained Trajectory Optimization☆67Updated last year
- Model predictive control based on data-driven model☆22Updated last year
- ICRA 2022 paper☆28Updated 3 weeks ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆57Updated 2 months ago
- Kino-dynamic optimization algorithm for multiped robots☆39Updated 2 years ago
- Linear Temporal Logic Motion Planning with Graphs of Convex Sets☆37Updated last year
- A collection of MPC walking scripts with various models☆18Updated 2 months ago
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 3 years ago
- Model predictive control applied to dynamic/kinematic models in Python☆14Updated 3 years ago
- Implementation of the paper "Hybrid Zero Dynamics of Planar Bipedal Walking"☆9Updated 5 years ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆102Updated last year
- A curated list of solvers/software/frameworksrelevant for dynamic optimiation☆26Updated last week
- Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928☆57Updated last year