dymp is a C++ library for trajectory optimization (TO) of legged robots. While dymp provides core functionality for TO, another library dymp_mpc provides implementation of model predictive controllers that run on Choreonoid.
Use CMake.
- Eigen3
- Intel MKL
- glfw3 (required for running samples)
There is a sample code of trajectory generation based on the centroidal dynamics model.
The centroidal dynamics model implemented in dymp is described in the following paper: [Y. Tazaki, "Trajectory Generation for Legged Robots Based on a Closed-Form Solution of Centroidal Dynamics," in IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 9239-9246, Nov. 2024] (https://ieeexplore.ieee.org/abstract/document/10669176).
The whole-body dynamics model is described in the following one: [Humanoid Dance Simulation Using Choreonoid and Whole-Body Model Predictive Control] (https://atompc-workshop.github.io/assets/pdf/paper2.pdf).