loco-3d/crocoddyl
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
This project helps robotics engineers design complex movements for robots that involve making and breaking contact with surfaces, like walking or manipulating objects. You provide the robot's physical description and desired task, and it calculates the optimal sequence of actions and forces the robot should take to achieve it. This is for robotics researchers and control engineers who need precise, dynamic motion planning for advanced robotic systems.
1,182 stars. Actively maintained with 12 commits in the last 30 days.
Use this if you need to generate optimal, contact-rich trajectories and real-time control policies for a robot performing intricate physical tasks.
Not ideal if you are looking for a simple, out-of-the-box solution for basic robot movements without complex contact sequences or requiring advanced customization.
Stars
1,182
Forks
205
Language
C++
License
BSD-3-Clause
Category
Last pushed
Mar 17, 2026
Commits (30d)
12
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