loco-3d/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

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Language

C++

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BSD-3-Clause

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1 week ago

C++robotics code-generation ros conda optimal-control motion-planning trajectory-optimization model-predictive-control crocoddyl differential-dynamic-programming legged-robotics

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