isri-aist / NMPCLinks
Non-linear model predictive control (NMPC) library
☆52Updated last week
Alternatives and similar repositories for NMPC
Users that are interested in NMPC are comparing it to the libraries listed below
Sorting:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 6 months ago
- ☆13Updated 2 years ago
- ☆64Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆40Updated 2 years ago
- Sampling based control for kino-dynamic contact aware motion planning.☆28Updated 4 years ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆54Updated 3 years ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆75Updated last week
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 2 months ago
- Planning framework for legged locomotion☆19Updated 11 months ago
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆31Updated 3 years ago
- RobCoGen code generator for any quadruped robot from the xacro description☆14Updated 4 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆63Updated 2 years ago
- ☆38Updated 7 months ago
- Quaternion Model Predictive Control for Legged Robots☆58Updated 8 months ago
- ICRA 2022 paper☆39Updated 9 months ago
- Unified C++ interface for quadratic programming solvers☆58Updated 3 months ago
- ☆100Updated 2 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- Differentiable Collision Avoidance☆24Updated 2 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆26Updated 2 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆30Updated last month
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- Memmo Winter-school material for the Pinocchio class☆15Updated 6 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- Implementation of the sl1m solver for multi contact planning☆19Updated 2 years ago
- ☆22Updated 3 weeks ago
- This repository aims to compare different motion planners for dynamical systems, namely search-based, sampling-based, and optimization-ba…☆40Updated last year