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 ]):
pkg> add ContactImplicitMPCFlamingo
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.