Sotaro Katayama (@mayataka)
github

mayataka

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Top repositories

1

robotoc

Efficient optimal control solvers for robotic systems.
C++
251
star
2

hpipm-cpp

C++ interface for hpipm, a high-performance interior point MPC solver
C++
86
star
3

mini_pupper_trajopt

Trajectory Optimization for Mini Pupper Gaits
Python
39
star
4

srbd-mpc

Single Rigid Body Dynamics-based linear MPC for quadrupedal robots
C++
18
star
5

unitree_ros2

ROS2 interface of unitree A1
C++
18
star
6

maafa

A PyTorch implementation of MPC as a Function Approximator
Python
17
star
7

robotoc_tutorial

A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.
Jupyter Notebook
16
star
8

legged_state_estimator-old

C++
8
star
9

grid_map_python

C++
4
star
10

crane_x7_mpc

Nonlinear Model Predictive Control for ROBOTIS CRANE-X7 with ROS
C++
3
star
11

robot_descriptions.cpp

Python
3
star
12

crane_x7_force_controllers

C++
2
star
13

pinocchio-rust

Rust
2
star
14

crane_x7_drake

Jupyter Notebook
1
star
15

crane_x7_mpc_ros2

C++
1
star
16

pinipopt

Ipopt solver with ifopt interface and pinocchio to benchmark our own algorithms
C++
1
star