A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height variations: A convex boundedness approach", ICRA 2018
☆12Oct 16, 2019Updated 6 years ago
Alternatives and similar repositories for CaptureProblemSolver
Users that are interested in CaptureProblemSolver are comparing it to the libraries listed below
Sorting:
- Capturability-based walking pattern generation over uneven terrains☆12Oct 28, 2019Updated 6 years ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆14Jun 23, 2023Updated 2 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21May 27, 2022Updated 3 years ago
- A fast C++ solver for lexicographic least-squares problems☆12Mar 3, 2026Updated 2 weeks ago
- ☆10Mar 9, 2023Updated 3 years ago
- Utilities for easy & modular MPC prototyping using Crocoddyl.☆12Feb 13, 2026Updated last month
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆72Dec 12, 2024Updated last year
- Additional shapes to decorate MeshCat scenes (frames, text, ...)☆17Jun 30, 2025Updated 8 months ago
- eigen-qld allow to use the QLD QP solver with the Eigen3 library.☆17Mar 3, 2026Updated 2 weeks ago
- Tutorials in IPython notebook for the SpaceVecAlg and RBDyn library.☆45Jan 16, 2019Updated 7 years ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆29Aug 18, 2021Updated 4 years ago
- Utilities for using mujoco and pinocchio☆17Jun 4, 2022Updated 3 years ago
- Implementation of spatial vector algebra with the Eigen3 linear algebra library.☆80Updated this week
- The ultimate Python tool for RObot Descriptions processing.☆17Nov 14, 2025Updated 4 months ago
- Humanoid robotics prototyping environment based on OpenRAVE☆232Feb 19, 2024Updated 2 years ago
- ☆38May 12, 2023Updated 2 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆19Nov 1, 2022Updated 3 years ago
- Tutorials for the Robotics MVA 2023 class☆11Aug 1, 2024Updated last year
- ☆11Feb 24, 2021Updated 5 years ago
- Memmo 2020 Summer School☆79Jun 22, 2025Updated 8 months ago
- ☆13Updated this week
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆68Sep 26, 2025Updated 5 months ago
- ☆17Sep 10, 2025Updated 6 months ago
- Hierachical Quadratic Problem solver☆12Oct 30, 2012Updated 13 years ago
- Minimal project using Pinocchio as Rigid Body Dynamics library☆28Updated this week
- Demo scripts to quickly start with Crocoddyl☆20Jul 2, 2024Updated last year
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 5 years ago
- A Python-based Trajectory Optimization Framework☆22Oct 29, 2024Updated last year
- Frictional Contact Library of problems☆17Dec 1, 2025Updated 3 months ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆42Jul 23, 2025Updated 7 months ago
- Bipedal locomotion software for the humanoid robot platform iCub.☆152Feb 24, 2026Updated 3 weeks ago
- C++ reimplementation of eiquadprog☆53Updated this week
- ☆18Dec 6, 2023Updated 2 years ago
- Extended version of Featherstone's spatial_v2 package☆68Mar 24, 2025Updated 11 months ago
- ☆43Jun 9, 2023Updated 2 years ago
- Closed-loop inverse kinematics (CLIK) based on CasADi.☆22May 16, 2023Updated 2 years ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆220Dec 28, 2025Updated 2 months ago
- Sourcecode & CAD drawings of NimbRo-OP☆27Oct 30, 2012Updated 13 years ago