loco-3d/crocoddyl
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
Leverages Pinocchio for analytical sparse derivatives and differential geometry on manifolds, enabling efficient trajectory optimization with feedback gains. Supports multiple solvers (DDP variants, Ipopt) with flexible integrators, costs, and constraints, plus automatic differentiation via CppAD and code generation. Includes Python bindings, multi-threading via OpenMP, and integrates with the robotics ecosystem (ROS, robotpkg).
1,182 stars. Actively maintained with 9 commits in the last 30 days.
Stars
1,182
Forks
205
Language
C++
License
BSD-3-Clause
Category
Last pushed
Mar 17, 2026
Commits (30d)
9
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