Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
☆1,321Oct 13, 2026Updated this week
Alternatives and similar repositories for crocoddyl
Users that are interested in crocoddyl are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives☆3,788Updated this week
- Optimal Control for Switched Systems☆1,527Sep 29, 2026Updated 2 weeks ago
- Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio☆351Updated this week
- Efficient optimal control solvers for robotic systems.☆312Dec 22, 2022Updated 3 years ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆339Oct 2, 2026Updated last week
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,745Updated this week
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,821Feb 13, 2025Updated last year
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆1,085Apr 17, 2023Updated 3 years ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆122Jul 15, 2026Updated 2 months ago
- The Advanced Proximal Optimization Toolbox☆596Updated this week
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆90Aug 1, 2026Updated 2 months ago
- The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control☆1,713Nov 9, 2022Updated 3 years ago
- ☆361Apr 1, 2026Updated 6 months ago
- An extension of the Flexible Collision Library☆650Updated this week
- Deploy open-source AI quickly and easily - Special Bonus Offer • AdRunpod Hub is built for open source. One-click deployment and autoscaling endpoints without provisioning your own infrastructure.
- Python inverse kinematics using Pinocchio and QP solvers☆855Sep 27, 2026Updated 2 weeks ago
- High-performance interior-point-method QP and QCQP solvers☆710Oct 3, 2026Updated last week
- an intuitive optimization tool tailored to robotics, based on CasADi☆85Aug 3, 2026Updated 2 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆79Feb 29, 2024Updated 2 years ago
- An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.☆593May 20, 2024Updated 2 years ago
- Sampling-based model predictive control on GPU with JAX/MJX☆309Jul 18, 2026Updated 2 months ago
- ☆193Oct 27, 2022Updated 3 years ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆970Sep 25, 2026Updated 2 weeks ago
- Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control☆1,500Updated this week
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (A…☆708Jun 9, 2025Updated last year
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆165Dec 14, 2022Updated 3 years ago
- Model-based design and verification for robotics.☆4,221Updated this week
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆1,007May 28, 2025Updated last year
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆227Oct 2, 2026Updated last week
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆420Jan 5, 2025Updated last year
- Fatrop is a high performance nonlinear optimization solver for optimal control and robotics☆324Sep 22, 2026Updated 3 weeks ago
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆234Updated this week
- Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC☆534Jan 13, 2025Updated last year
- Open source password manager - Proton Pass • AdSecurely store, share, and autofill your credentials with Proton Pass, the end-to-end encrypted password manager trusted by millions.
- An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)☆867Nov 3, 2025Updated 11 months ago
- Model Predictive Control in JAX☆279Sep 2, 2026Updated last month
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆69Sep 26, 2025Updated last year
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,475Aug 22, 2026Updated last month
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆526Updated this week
- Trajectory Optimization Motion Planner for ROS☆528Updated this week
- The course text for MIT 6.832 (and 6.832x on edX)☆1,019Oct 5, 2026Updated last week