Description
Making humanoids and quadrupeds jump or climb needs optimal trajectories under changing contacts, where generic solvers are slow. Crocoddyl is an optimal control library for robots under contact sequences.
It uses efficient DDP-like algorithms with code generation, widely used for legged motion planning.
Contacts:Legged motion.
DDP:Efficient.
Codegen:Real time.
Research:Legged robots.
It uses efficient DDP-like algorithms with code generation, widely used for legged motion planning.
Features
Contacts:Legged motion.
DDP:Efficient.
Codegen:Real time.
Research:Legged robots.
