isri-aist / NMPCLinks
Non-linear model predictive control (NMPC) library
☆53Updated last month
Alternatives and similar repositories for NMPC
Users that are interested in NMPC are comparing it to the libraries listed below
Sorting:
- Sampling based control for kino-dynamic contact aware motion planning.☆29Updated 4 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆61Updated 7 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆40Updated 3 months ago
- ☆65Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆65Updated last year
- Planning framework for legged locomotion☆19Updated last year
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆80Updated this week
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆62Updated 2 years ago
- ☆103Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆43Updated 2 years ago
- Rviz plugins to display whole-body states and trajectories☆70Updated 3 weeks ago
- Quaternion Model Predictive Control for Legged Robots☆60Updated 10 months ago
- Unified C++ interface for quadratic programming solvers☆62Updated 3 weeks ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 2 years ago
- Generic whole-body controller based on quadratic programming☆19Updated 9 months ago
- ☆21Updated 2 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆37Updated last week
- ICRA 2022 paper☆39Updated 11 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 2 months ago
- ☆41Updated 9 months ago
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆31Updated 3 years ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆56Updated 3 years ago
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆11Updated 3 years ago
- C++ interface for hpipm, a high-performance interior point MPC solver☆96Updated 2 years ago
- ☆24Updated last year
- RobCoGen code generator for any quadruped robot from the xacro description☆14Updated 4 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆18Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆40Updated 3 years ago
- ☆94Updated last week
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆19Updated 3 years ago