roahmlab / RAPTORLinks
RAPTOR: RAPid and Robust Trajectory Optimization for Robots
☆164Updated 5 months ago
Alternatives and similar repositories for RAPTOR
Users that are interested in RAPTOR are comparing it to the libraries listed below
Sorting:
- Model Predictive Control in JAX☆110Updated last month
- A distributed whole-body model predictive control for quadruped robots☆67Updated 6 months ago
- Quaternion Model Predictive Control for Legged Robots☆64Updated last month
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆122Updated 5 months ago
- ☆50Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆46Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆131Updated last month
- ☆108Updated 2 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆42Updated 2 months ago
- ☆101Updated this week
- Optimization fabrics for behavior design☆82Updated 8 months ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆78Updated 10 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆66Updated 10 months ago
- Judo: a hackable sampling-based MPC toolbox☆191Updated 3 weeks ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆80Updated 3 weeks ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆83Updated 4 months ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆55Updated this week
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆74Updated last week
- Tools for exploiting Morphological Symmetries in robotics☆91Updated 2 months ago
- A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data☆81Updated 3 weeks ago
- Safe, high-performance, and task-consistent manipulator control☆131Updated last week
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 6 months ago
- ICRA 2022 paper☆40Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆41Updated last week
- Mujoco Gym environment for the control of quadruped robots☆50Updated last week
- ☆28Updated last year
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Updated last year
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆91Updated last month
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- Demo scripts to quickly start with Crocoddyl☆20Updated last year