utiasSTARS / sos-ikLinks
Inverse kinematics using sum of squares optimization.
☆17Updated 5 years ago
Alternatives and similar repositories for sos-ik
Users that are interested in sos-ik are comparing it to the libraries listed below
Sorting:
- ☆36Updated 5 years ago
- Differentiable Collision Avoidance☆24Updated 3 years ago
- ☆18Updated 2 years ago
- Code accompanying the paper "Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles" by K. Hauser☆52Updated 5 years ago
- ☆26Updated 2 years ago
- ☆30Updated 2 years ago
- Quadratic program based Inverse kinematic solver for mutli-robotic arms with respect to the kinematic and self-collision avoidance constr…☆56Updated 6 years ago
- Planning and Control Algorithms for Robotics☆67Updated 2 years ago
- Set of exercises accompanying the ICRA 2019 Tutorial on Dynamical System based Learning from Demonstration: https://epfl-lasa.github.io/T…☆66Updated 5 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆19Updated 3 years ago
- ☆18Updated 2 years ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆41Updated 5 months ago
- Stochastic Trajectory Optimization for Motion Planning (STOMP)☆28Updated last week
- Package for bidirectional motion planning for mobile manipulation tasks involving geometric end-effector task constraints☆27Updated 7 years ago
- TROPIC: TRajectory OPtimization In CasADi☆56Updated 4 years ago
- ☆16Updated 2 years ago
- Framework for dynamical system identification of floating-base rigid body tree structures☆70Updated 6 years ago
- Generic whole-body controller based on quadratic programming☆20Updated last year
- ☆18Updated 4 years ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆32Updated 2 years ago
- ☆18Updated 2 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆50Updated last year
- A Contact-Implicit Trajectory Optimization Package☆53Updated 2 years ago
- ROS-based library for computing manipulability metrics☆15Updated 5 years ago
- ☆28Updated 3 years ago
- Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relati…☆15Updated 6 years ago
- ☆53Updated 6 years ago
- Generic whole body control library with QP: inverse dynamics and kinematics☆20Updated 2 years ago
- MATLAB codes for optimal excitation trajectories☆28Updated 4 years ago
- Solver for inverse kinematics tasks for general serial manipulators with 7 revolute joints. It combines symbolical and numerical approach…☆21Updated 3 years ago