thowell

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

Algorithm and model experiments for robot motion planning. Implemented in Julia.

Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928

A Julia package for constrained iterative LQR (iLQR)

A differentiable simulator for robotic systems.

A Julia package for constrained trajectory optimization using direct methods.