ky-lin22 Goto Github PK

acado

ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization.

casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

cdesign

contactimplicitmpc.jl

Fast contact-implicit model-predictive control for robotic systems that make and break contact with their environments.

drake

Model-based design and verification for robotics.

dsctutorials

A few simple tutorials for dynamical systems and control. Most require Matlab.

gazebo

Open source robotics simulator.

hpipm

High-performance interior-point-method QP solvers

idocp

Inverse Dynamics based Optimal Control Problem solver for rigid body systems

idyntree

Multibody Dynamics Library designed for Free Floating Robots

ipopt

COIN-OR Interior Point Optimizer IPOPT

motion_planning

motion planning

mpec-solver

Some self-written MPEC solvers

nipocpec

A MATLAB implementation of the proposed Non-Interior-Point solution method for the Optimal Control Problem with Equilibrium Constraints

nipocpec_casadi

optimtraj

A trajectory optimization library for Matlab

osqp

The Operator Splitting QP Solver

parnmpc

A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)

penalty-gap-ocp-lcs

A penalty gap function method for optimal control problem of linear complementarity systems

phase-space-planner-locomotion

Robust phase space planning of legged locomotion over rough terrain

prmlt

Matlab code of machine learning algorithms in book PRML

proximal

Sample implementations of proximal operators

proximalalgorithms.jl

Proximal algorithms for nonsmooth optimization in Julia

quadrupedsim

A quadruped robot simulator in Matlab/Simulink

robotis-op3

ROS packages for the ROBOTIS OP3

robustcontacterm

Repository for Robust Trajectory Optimization with Stochastic Complementarity

simscape-multibody-contact-forces-library

Contact force examples and library.

taichi

Productive & portable high-performance programming in Python.

trajectoryoptimization

Study a few robotics systems and their trajectory generation strategies

trajectoryoptimization.jl

A fast trajectory optimization library written in Julia