☆18Dec 6, 2023Updated 2 years ago
Alternatives and similar repositories for DIRCON
Users that are interested in DIRCON are comparing it to the libraries listed below
Sorting:
- A Python reference implementation of rigid body dynamics algorithms☆18Jul 17, 2023Updated 2 years ago
- A MATALB GUI for walking animation based on the 3LP walking model☆20Jul 29, 2019Updated 6 years ago
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 4 years ago
- ☆55Oct 26, 2024Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆144Sep 9, 2025Updated 5 months ago
- Implementation of drake contact surfaces in MuJoCo.☆34Mar 18, 2025Updated 11 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
- Differential Dynamic Programming and Iterative LQR in Drake☆77Jun 10, 2024Updated last year
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆50Jan 30, 2026Updated last month
- ☆17Sep 10, 2025Updated 5 months ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆14Jun 23, 2023Updated 2 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆50Feb 18, 2024Updated 2 years ago
- ☆24Aug 3, 2020Updated 5 years ago
- A Contact-Implicit Trajectory Optimization Package☆54Sep 22, 2023Updated 2 years ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆81Feb 12, 2026Updated 2 weeks ago
- Using an RGBD camera and a projector for dynamic scene relighting (via projection mapping).☆15Mar 15, 2021Updated 4 years ago
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆12Jan 5, 2021Updated 5 years ago
- A live plotting tool for LCM message fields.☆13Jan 21, 2019Updated 7 years ago
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Oct 16, 2019Updated 6 years ago
- Scott Kuindersma在讲述Atlas控制技术时提到 的部分论文☆29Aug 18, 2021Updated 4 years ago
- Speed comparison of QP solvers such as qpOASES, OSQP, casadi, hpipm, acados☆16Oct 31, 2021Updated 4 years ago
- Graphical user interface for visualizing control variables from either a server, a log file, or a simulation.☆16Feb 6, 2026Updated 3 weeks ago
- ☆17Sep 16, 2022Updated 3 years ago
- ☆107Updated this week
- ☆65Feb 16, 2026Updated last week
- ☆15Jan 13, 2026Updated last month
- Standardised ROS messages for encoding whole-body state information☆14Jan 19, 2026Updated last month
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- Collocation methods for trajectory optimization for second or higher order systems.☆19Jan 22, 2025Updated last year
- implementation of sequential convex programming (successive convexification)☆16Sep 1, 2022Updated 3 years ago
- ☆50Apr 21, 2023Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21May 27, 2022Updated 3 years ago
- ☆23Nov 26, 2025Updated 3 months ago
- Collection of centroidal control for legged robots☆82Oct 23, 2025Updated 4 months ago
- ☆38Nov 15, 2021Updated 4 years ago
- A Fast Solver for Constrained Trajectory Optimization☆87Aug 2, 2023Updated 2 years ago
- A solver for nonlinear programming based on a sequential quadratic programming strategy with feasible intermediate iterates.☆22Feb 20, 2025Updated last year