A light-weight and extensible C++ library for trajectory optimization for legged robots.
A base-set of variables, costs and constraints that can be combined and extended
to formulate trajectory optimization problems for legged systems. These
implementations have been used to generate a variety of motions such as
monoped hopping, biped walking, or a complete quadruped trotting cycle,
while optimizing over the gait and step durations in less than 100ms.
An Eigen-based interface to Nonlinear Programming solvers,
such as Ipopt and Snopt. The user defines the solver-independent
optimization problem by set of C++ classes resembling variables, cost and
constraints. Subsequently, the problem can then be solved with either
solver. This package can also be dropped in your catkin workspace.
A collection of ROS-packages for the visualization of motion plans for
floating-base robots. Apart from drawing support areas, contact forces and
motion trajectories in RVIZ, it also displays these plans for specific robots.
Current robots include a one-legged, a two-legged hopper, HyQ and a quadrotor.