Model-based Optimization for Robotics

IEEE RAS Technical Committee

Optimization Tools

MUSCOD

MUSCOD is a powerful optimal control code for systems ordinary differential and differential algebraic equations and can be used for robotics problems. It uses a direct multiple shooting method.  MUSCOD has been written by Hans Georg Bock, Daniel Leineweber and co-workers (University of Heidelberg, Germany).

Webpage: http://www.iwr.uni-heidelberg.de/~agbock/RESEARCH/muscod.php

 

ACADO

ACADO Toolkit is an open source  software environment and algorithm collection for automatic control and dynamic optimization. It also uses the direct multiple shooting method. ACADO is written in C++ but comes with a user-friendly Matlap interface. Authors are Moritz Diehl,  Boris Houska, Hand Joachim Ferreau, Milan Vukov, Rien Quiynen, KU Leuven. 

Licence: Gnu LGPL

Webpage: www.acadotoolkit.org

 

Roboptim

Roboptim is a modern open-source C++ library for numerical optimization applied to robotics by Thomas Moulard (LAAS-CNRS, Toulouse, France and AIST-JRL, Tsukuba, Japan).

Licence: LGPL

Webpage:  http://www.roboptim.net/


OCPID-DAE1

A page with general information about optimal control and the code OCPID.DAE1 by Matthias Gerdts (Universität der Bundeswehr, Munich, Germany):

Webpage:  http://www.optimal-control.de