Control
From targets to motor commands.
- DrakeOpen source
Model-based design and verification for robotics from MIT and Toyota Research.
- PinocchioOpen source
Fast rigid-body dynamics algorithms and their analytical derivatives.
- OCS2Open source
Optimal Control for Switched Systems, MPC toolbox for legged robots.
- acadosOpen source
Fast embedded solvers for nonlinear MPC.
- CrocoddylOpen source
Differential dynamic programming for whole-body optimal control.
