loco-3d / crocoddyl
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
☆848Updated this week
Related projects ⓘ
Alternatives and complementary repositories for crocoddyl
- Optimal Control for Switched Systems☆901Updated last year
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆929Updated last year
- Visit www.raisim.com☆343Updated 2 months ago
- The course text for MIT 6.832 (and 6.832x on edX)☆752Updated this week
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆731Updated this week
- A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives☆1,928Updated this week
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,060Updated this week
- Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio☆196Updated this week
- Efficient optimal control solvers for robotic systems.☆263Updated last year
- Course notes for MIT manipulation class☆431Updated this week
- Open-source C++ implementation of the recently proposed online active set strategy☆396Updated last year
- Visualization of Motions for Legged Robots in ros-rviz☆325Updated 2 years ago
- RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (A…☆563Updated last week
- Modern Robotics: Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and …☆448Updated 7 months ago
- Awesome Quadrupedal Robots☆560Updated 2 weeks ago
- A curated list of awesome robot descriptions (URDF, MJCF)☆424Updated this week
- Walking controller for humanoid robots based on inverted pendulum tracking☆233Updated last year
- Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC☆403Updated 2 months ago
- Trajectory Optimization Motion Planner for ROS☆399Updated 3 weeks ago
- Fast Robot Optimization and Simulation Toolkit (FROST)☆158Updated 11 months ago
- An open source implementation of MIT Cheetah 3 controllers☆636Updated last year
- Humanoid robotics prototyping environment based on OpenRAVE☆220Updated 9 months ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆982Updated last month
- Deep RL for MPC control of Quadruped Robot Locomotion☆426Updated 3 weeks ago
- ☆266Updated last year
- MIT mini cheetah quadruped robot simulated in pybullet environment using ros.☆313Updated 2 years ago
- Model-predictive control for microcontrollers☆629Updated 3 months ago
- Fast and embedded solvers for nonlinear optimal control☆833Updated this week
- Kris' Locomotion and Manipulation Planning Toolkit☆377Updated 3 weeks ago
- A Tutorial on Manipulator Differential Kinematics☆345Updated last year