Motion planning & control

Open source

Hybrid A* path planner for an autonomous research vehicle.

Open source

Combines symbolic planners and black-box samplers for robotic planning.

Research

Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems

Open source

Physics simulation library for rigid bodies, deformable solids and fluids.

Open source

Proximal optimization toolbox for numerical optimization workflows.

Open source

Aerodynamic analysis software for flapping-wing flight.

Open source

Python toolbox for robotics calculations.

Open source

Toolkit for multibody dynamics modeling and analysis.

Open source

OpenRAVE-based environment for humanoid robotics prototyping.

Open source

A library for differentiable robotics on manifolds.

Open source

:dog2: Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

Research

Quadruped control architecture

Open source

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Research

RAISIM physics simulation resources for robotics and AI research.

Open source

Rank-Then-Act research code for control from frame-order progress.

Research

C++ reinforcement-learning library for prediction and control.

Open source

Deep RL for MPC control of Quadruped Robot Locomotion

Open source

Wheeled mobile robot motion planning library designed for FTC

Open source

Modern robot motion planning library based on Pinocchio.

Open source

An older Python port of Peter Corke's MATLAB Robotics Toolbox.

Open source

3D robot interface built with three.js.

Research

Examples and material on robot kinematics, dynamics, control and learning.

Open source

Robotics Toolbox for MATLAB

Research

A Kinova Gen3 ball-balancing project using SAC in MATLAB and Simulink.