machines-in-motion / mim_solversLinks
Implementation of numerical solvers used in the Machines in Motion Laboratory
☆58Updated 2 months ago
Alternatives and similar repositories for mim_solvers
Users that are interested in mim_solvers are comparing it to the libraries listed below
Sorting:
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆112Updated 2 weeks ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆78Updated last week
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆34Updated last week
- Low-Complexity Inverse Kinematics☆79Updated last month
- ☆57Updated last week
- Kino-dynamic optimization algorithm for multiped robots☆44Updated 3 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆50Updated last year
- Demo scripts to quickly start with Crocoddyl☆19Updated 11 months ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆71Updated 2 weeks ago
- Benchmarking contact models and solvers from robotics simulators.☆33Updated 10 months ago
- Implementation of the sl1m solver for multi contact planning☆19Updated 2 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆67Updated last year
- ☆44Updated 3 years ago
- C++ library for optimization-based control of redundant robots☆57Updated last month
- ☆87Updated this week
- ICRA 2022 paper☆37Updated 9 months ago
- ☆33Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆99Updated 11 months ago
- ☆37Updated 7 months ago
- A Contact-Implicit Trajectory Optimization Package☆45Updated last year
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆65Updated this week
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆53Updated 5 months ago
- ☆32Updated 5 years ago
- A collection of MPC walking scripts with various models☆36Updated 3 months ago
- ☆24Updated 2 months ago
- Model predictive control in Python based on quadratic programming☆44Updated last week
- Collection of centroidal control for legged robots☆78Updated last week
- ☆31Updated last year
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆45Updated last week