ContactImplicitMPC.jl

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

Notebooks can be generated for the examples, please try: flamingo, pushbot, hopper, and quadruped.

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.