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Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on an efficient Differential Dynamic Programming (DDP) algorithm. Crocoddyl computes optimal trajectories along to optimal feedback gains. It uses P
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Coordination project for the control of the balance of Talos.
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Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on an efficient Differential Dynamic Programming (DDP) algorithm. Crocoddyl computes optimal trajectories along to optimal feedback gains. It uses P
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Clone of https://git.openrobots.org/projects/robotpkg-wip with branches prepared for the CI of other projects
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Coordination project for the control of the balance of Talos.
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Pattern generator
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Library for creating curves
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Library for creating curves
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Collection of dynamic-graph entities aimed at implementing torque control on different robots. https://github.com/stack-of-tasks/sot-torque-control
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Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
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