loco-3d/crocoddyl

crocoddyl

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Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

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C++ · BSD-3-Clause · Last push 2026-11-02

Official repository & installation ↗
optimal-controlmotion-planningdifferential-dynamic-programminglegged-roboticsmodel-predictive-controlcode-generationroscondacrocoddylrobotics

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2025-09-292026-11-03
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Get the project

git clone https://github.com/loco-3d/crocoddyl.git

Cloning downloads the source. For dependencies and installation, follow the project README.

Related projects & alternative candidates

Related domains do not imply feature parity. Review official documentation and licenses.