Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Carlos Mastalli,Rohan Budhiraja,Wolfgang Merkt,Guilhem Saurel,Bilal Hammoud,Maximilien Naveau,Justin Carpentier,Ludovic Righetti,Sethu Vijayakumar,Nicolas Mansard,Carlos Mastalli,Rohan Budhiraja,Wolfgang Merkt,Guilhem Saurel,Bilal Hammoud,Maximilien Naveau,Justin Carpentier,Ludovic Righetti,Sethu Vijayakumar,Nicolas Mansard
We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently computes the state trajectory and the control policy for a given predefined sequence of contacts. Its efficiency is due to the use of sparse analytical derivatives, exploitation of the problem structure, and data sharin...
