Toy implementations of algorithms for path planning, system modelling, optimal control, estimation, and more.
☆23Jul 5, 2019Updated 6 years ago
Alternatives and similar repositories for controls
Users that are interested in controls are comparing it to the libraries listed below
Sorting:
- A library of robot motions performed by inverse kinematics and model predictive control.☆18Mar 12, 2026Updated last week
- ☆25May 30, 2025Updated 9 months ago
- Implementation of drake contact surfaces in MuJoCo.☆34Mar 18, 2025Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆149Sep 9, 2025Updated 6 months ago
- Visualizer for robot reachability and base placement maps (based on reuleaux)☆17Jan 16, 2023Updated 3 years ago
- Scripts for examples in the lectures notes for Optimal Control and Estimation☆11Nov 14, 2023Updated 2 years ago
- Generative Predictive Control☆58Sep 30, 2025Updated 5 months ago
- Example demonstrating pytorch c++ integration with drake☆18Mar 4, 2024Updated 2 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆260Dec 27, 2025Updated 2 months ago
- ☆55Oct 26, 2024Updated last year
- Humanoid loco-manipulation controller☆35Feb 4, 2025Updated last year
- ☆52Mar 26, 2019Updated 6 years ago
- MATLAB codes for optimal excitation trajectories☆29Feb 6, 2021Updated 5 years ago
- ☆118Jan 2, 2023Updated 3 years ago
- Simple C++ abstraction layer for quadratic programming solvers using Eigen.☆35Jun 27, 2025Updated 8 months ago
- In this repository there are the projects developed during the course of Advance Optimization-based Robot Control. The main topics are Ta…☆17Feb 20, 2023Updated 3 years ago
- A distributed whole-body model predictive control for quadruped robots☆81Apr 22, 2025Updated 10 months ago
- ☆23Nov 26, 2025Updated 3 months ago
- Simplified Perpetual Humanoid Control with Pufferlib, CARBS☆97Aug 31, 2025Updated 6 months ago
- ☆54Aug 12, 2022Updated 3 years ago
- Official implementation for paper 'Bridging Adaptivity and Safety'.☆24Jun 4, 2025Updated 9 months ago
- Towards better athletic intelligence☆182Updated this week
- New version: https://github.com/chungmin99/pyroki☆19Apr 13, 2025Updated 11 months ago
- A tiny collection of robotics problems, for learning and for fun☆16Apr 1, 2025Updated 11 months ago
- Numerical Inverse Kinematics solver based on JAX + MJX☆146Jul 31, 2025Updated 7 months ago
- Software related to walking and teleoperation.☆48Mar 9, 2026Updated last week
- Official implementation of REArtGS (NeurIPS 2025)☆19Mar 6, 2026Updated 2 weeks ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆50Jan 30, 2026Updated last month
- Quaternion Model Predictive Control for Legged Robots☆77Sep 11, 2025Updated 6 months ago
- URDF description of the JVRC humanoid model☆15Jan 9, 2025Updated last year
- SmoothMoCapRetarget converts human motion capture data into smooth, kinematically feasible trajectories for humanoid robots. Built on Lev…☆20Jun 22, 2025Updated 8 months ago
- This repository contains Reinforcement Learning (RL) environments for the Upkie robot.☆23Mar 11, 2026Updated last week
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆84Nov 25, 2024Updated last year
- [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies☆227Jun 16, 2025Updated 9 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- Analytical formula of the wrench friction cone for surface contacts☆25May 4, 2020Updated 5 years ago
- MuJoCo interface for mc-rtc☆123Updated this week
- Isaaclab based Parkour locomotion☆272Dec 4, 2025Updated 3 months ago
- This is an extended Kalman Filter implementation based on CasADi☆12Mar 18, 2018Updated 8 years ago