contactimplicitmpc.jl
Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.
Science Score: 23.0%
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○Scientific vocabulary similarity
Low similarity (12.4%) to scientific vocabulary
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Repository
Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.
Basic Info
Statistics
- Stars: 144
- Watchers: 6
- Forks: 15
- Open Issues: 4
- Releases: 0
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Metadata Files
README.md
ContactImplicitMPC.jl
This repository contains algorithms and examples from our paper: Fast Contact-Implicit Model-Predictive Control.
A collection of examples are pre-generated in notebooks with the package, please try: flamingo, pushbot, hopper, and quadruped. Additional notebooks with examples from the paper can be generated.
Installation
ContactImplicitMPC can be added via the Julia package manager (type ]):
julia
pkg> add ContactImplicitMPC
Flamingo
PushBot
Hopper Parkour
Quadruped with Payload
Hopper Monte Carlo
Quadruped Monte Carlo
Reference Trajectories
The trajectories we track in the examples are generated using contact-implicit trajectory optimization and can be run here.
Simulator
The differentiable simulator is available as a stand-alone package: RoboDojo.jl.
Citing
If you find ContactImplicitMPC useful in your project, we kindly request that you cite the following paper:
@article{lecleach2021fast,
title={Fast Contact-Implicit Model-Predictive Control},
author={Le Cleac'h, Simon and Howell, Taylor A. and Schwager, Mac and Manchester, Zachary},
journal={arXiv preprint arXiv:2107.05616},
year={2021}
}
The article is available under Open Access here.
Owner
- Name: Dojo
- Login: dojo-sim
- Kind: organization
- Repositories: 3
- Profile: https://github.com/dojo-sim
GitHub Events
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- Issues event: 3
- Watch event: 37
- Issue comment event: 2
- Fork event: 3
Last Year
- Issues event: 3
- Watch event: 37
- Issue comment event: 2
- Fork event: 3
Issues and Pull Requests
Last synced: 6 months ago
All Time
- Total issues: 6
- Total pull requests: 1
- Average time to close issues: 2 days
- Average time to close pull requests: 24 days
- Total issue authors: 5
- Total pull request authors: 1
- Average comments per issue: 2.33
- Average comments per pull request: 2.0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 1
- Pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Issue authors: 1
- Pull request authors: 0
- Average comments per issue: 1.0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
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- thowell (2)
- benthebear93 (1)
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- rejuvyesh (1)