Description
Stable walking and grasping for quadrupeds and arms needs real-time optimal control that's very hard to build. OCS2 from ETH Zurich is an optimal control toolbox for switched systems.
It provides MPC and several solvers for legged and mobile manipulators, with ROS interfaces and examples.
MPC:Real time.
Switched systems:Gait changes.
Solvers:SLQ and DDP.
ROS:Many examples.
It provides MPC and several solvers for legged and mobile manipulators, with ROS interfaces and examples.
Features
MPC:Real time.
Switched systems:Gait changes.
Solvers:SLQ and DDP.
ROS:Many examples.
