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cartpole_casadi_cplusplus

使用casadi的C++接口写的shooting/collocation轨迹优化示例代码

cheetah-software

control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

dircon

dji-spark-shooting-control

建立无人机位置的3维坐标系，在手机与无人机间进行坐标变换、轨迹插值、轨迹跟随。最终实现手机指哪无人机就飞哪的功能

drake

Model-based design and verification for robotics.

dwl

The Dynamic Whole-body Locomotion library (DWL)

fcl

Flexible Collision Library

gpu_accelerate_qp_solve_test

ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

ilqr_onboard

C++ implementation of iLQR

jet-leg

This is an open-source python package that shows how to compute the Feasible Region, i.e. the extension of the well known support region to include joint-torque limits constraints. The details are explained in this preprint:

mazesolving

A variety of algorithms to solve mazes from an input image

motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

mpcc

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

python-data-science-handbook

A Chinese translation of Jake Vanderplas' "Python Data Science Handbook". 《Python数据科学手册》在线Jupyter notebook中文翻译

qp_solver_basic_implementation

Some QP solver method's implementation, such as ADMM, active set, interior-point method

rpna

A MATLAB implementation of the Recursive Parameter Nullspace Algorithm - Paper Under Review

scott-kuindersma-mentioned-papers

Scott Kuindersma在讲述Atlas控制技术时提到的部分论文

spatial_v2_extended

Extended version of Featherstone's spatial_v2 package

towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

underactuated

The course text for MIT 6.832 (and 6.832x on edX)

variable-height-double-pendulum

Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"