Sotaro Katayama

robotoc. Efficient optimal control solvers for robotic systems.

hpipm-cpp. C++ interface for hpipm, a high-performance interior point MPC solver

legged_state_estimator. C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.

mini_pupper_trajopt. Trajectory Optimization for Mini Pupper Gaits

srbd-mpc. Single Rigid Body Dynamics-based linear MPC for quadrupedal robots

maafa. A PyTorch implementation of MPC as a Function Approximator

robotoc_tutorial. A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.

unitree_ros2. ROS2 interface of unitree A1

legged_state_estimator-old. C++

grid_map_python. C++

robot_descriptions.cpp. Python

crane_x7_mpc. Nonlinear Model Predictive Control for ROBOTIS CRANE-X7 with ROS

crane_x7_force_controllers. C++

pinocchio-rust. Rust

ParNMPC. A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)

pinocchio. A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

grid_map. Universal grid map library for mobile robotic mapping

ndcurves. Library for creating smooth cubic splines

crane_x7_mpc_ros2. C++

ocs2. Optimal Control for Switched Systems

crane_x7_drake. Jupyter Notebook

ifopt. An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

Gaussian-Process-based-Model-Predictive-Control. Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart

pinipopt. Ipopt solver with ifopt interface and pinocchio to benchmark our own algorithms

GP-MPC. MPC with Gaussian Process