rkourdis / trajoptLinks
A trajectory optimizer that can make quadrupeds backflip.
☆45Updated 6 months ago
Alternatives and similar repositories for trajopt
Users that are interested in trajopt are comparing it to the libraries listed below
Sorting:
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆74Updated last year
- ICRA 2022 paper☆40Updated last year
- Collection of centroidal control for legged robots☆79Updated 2 months ago
- A distributed whole-body model predictive control for quadruped robots☆73Updated 8 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆46Updated last week
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Updated this week
- ☆31Updated 2 years ago
- A collection of MPC walking scripts with various models☆43Updated 11 months ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆81Updated 3 months ago
- ☆55Updated last year
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆85Updated 6 months ago
- ☆47Updated 3 years ago
- Model Predictive Control in JAX☆170Updated last month
- ☆64Updated 2 weeks ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆83Updated 3 weeks ago
- Kino-dynamic optimization algorithm for multiped robots☆46Updated 4 years ago
- Quaternion Model Predictive Control for Legged Robots☆71Updated 4 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Updated 4 years ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Updated 3 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆56Updated last year
- ☆35Updated 3 years ago
- Spring Loaded Inverted Pendulum control and visualization python tools☆56Updated 4 years ago
- ☆107Updated this week
- Humanoid multi-contact motion controller☆39Updated 11 months ago
- Python Implementation of Planning and Control☆60Updated last year
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆57Updated 2 weeks ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- ☆25Updated 7 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆49Updated 2 years ago