isri-aist / NMPCLinks
Non-linear model predictive control (NMPC) library
☆60Updated 7 months ago
Alternatives and similar repositories for NMPC
Users that are interested in NMPC are comparing it to the libraries listed below
Sorting:
- ☆69Updated 2 years ago
- Sampling based control for kino-dynamic contact aware motion planning.☆34Updated 4 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆69Updated last year
- Rviz plugins to display whole-body states and trajectories☆73Updated 2 weeks ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- Planning framework for legged locomotion☆20Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 9 months ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆86Updated 2 months ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆59Updated 4 years ago
- C++ interface for hpipm, a high-performance interior point MPC solver☆104Updated 2 years ago
- ☆117Updated 3 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆50Updated 2 years ago
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆33Updated 4 years ago
- Unified C++ interface for quadratic programming solvers☆66Updated 4 months ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆63Updated 3 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 3 years ago
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆12Updated 4 years ago
- ICRA 2022 paper☆41Updated last year
- ROS2 Humble CDDP-MPC package without any addtional installation☆17Updated 6 months ago
- This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implemen…☆35Updated last week
- Planning and Control Algorithms for Robotics☆68Updated 3 years ago
- ☆55Updated last year
- Generic whole-body controller based on quadratic programming☆20Updated last year
- ☆29Updated last week
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆32Updated 5 years ago
- Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4…☆138Updated last year
- linear MPC based on OSQP☆10Updated 3 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆50Updated 6 months ago
- Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet…☆37Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆80Updated last year