ContactImplicitMPC.jl

This repository contains the algorithms and examples from our paper: Fast Contact-Implicit Model-Predictive Control.

We are currently cleaning up the examples for public consumption. At this stage, please try: flamingo, pushbot, hopper, and quadruped. Notebooks can be generated for the examples.

Installation

Pkg.add("ContactImplicitMPC")

Flamingo

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.