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OCS2
Real-time MPC and optimal control toolbox for switched robotic systems
BSD-3-Clause
ABOUT
Real-time MPC on legged robots and manipulators needs switched dynamics, hard constraints, and fast derivatives, not a generic NLP dump. OCS2 packages DDP-family and SQP solvers with URDF models, self-collision constraints, and ROS nodes so teams run onboard nonlinear MPC with limited compute.
INTEGRATION GUIDE
1. Run whole-body MPC on a quadruped or humanoid with contact mode schedules
2. Track end-effectors on a mobile manipulator with self-collision constraints
3. Generate code from automatic differentiation for onboard control loops
4. Deploy OCS2 solvers through ROS 1 or ROS 2 interfaces on real robots
TAGS
cpproboticsmpcoptimal-controllegged-robotsrospinocchio