This is a (minimally documented) repository for the ICRA 2023 submission: "Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors". If you have questions or would like more documentation, please feel free to reach out to me!
- Eigen
- Yaml-cpp
- OSQP
- OSQP-Eigen
- glfw3
- Pinocchio
- ROS
- Mujoco
This directory contains all of the code for controlling and simulating the robot. Once built, run ./hopper_ctrl and ./hopper_sim in two separate terminals.
This directory contains the code for the hardware platform.
