mposa / DIRCON
☆14Updated 9 months ago
Related projects: ⓘ
- ☆30Updated last year
- A Contact-Implicit Trajectory Optimization Package☆38Updated 11 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 7 months ago
- ICRA 2022 paper☆28Updated 3 weeks ago
- Python Implementation of Planning and Control☆45Updated 6 months ago
- A collection of MPC walking scripts with various models☆18Updated 2 months ago
- ☆43Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆50Updated 2 months ago
- Differential Dynamic Programming and Iterative LQR in Drake☆46Updated 3 months ago
- ☆37Updated 5 years ago
- ☆13Updated 2 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆45Updated last year
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 3 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆16Updated last year
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆23Updated this week
- ☆41Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆50Updated 3 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆16Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆57Updated 2 months ago
- Kino-dynamic optimization algorithm for multiped robots☆39Updated 2 years ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆21Updated this week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆55Updated 6 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆39Updated last week
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆9Updated last year
- Globally Safe Model-free Exploration of Dynamical Systems☆28Updated 3 months ago
- Using Drake to Simulate and Control Quadrupedal Robots☆25Updated 2 years ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆27Updated 3 years ago
- ☆41Updated last year
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 4 years ago