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1. HKD-MPC HKD-MPC Public

   A nonlinear MPC framework for agile and versatile quadruped locomotion

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2. Multiple-Shooting-DDP Multiple-Shooting-DDP Public

   Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.

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3. HS-DDP-CPP HS-DDP-CPP Public

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4. Cheetah-Software-He Cheetah-Software-He Public

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5. HybridSystemDDP HybridSystemDDP Public

   Forked from ROAM-Lab-ND/HS-DDP-MATLAB

   Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped bounding with Model Hierarchy Predicti…

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6. Cheetah-Software Cheetah-Software Public

   Forked from mit-biomimetics/Cheetah-Software

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