rejuvyesh / ContactImplicitMPC.jl

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

ContactImplicitMPC.jl

This repository contains the algorithms and examples from our paper: Fast Contact-Implicit Model-Predictive Control.

Installation

Pkg.add("ContactImplicitMPC")

PushBot

Flamingo

Hopper Parkour

Quadruped with Payload

Hopper Monte Carlo

Quadruped Monte Carlo