RCFS: Robotics Codes From Scratch

Description

Toolbox to solve optimal control and trajectory optimization problems in robotics.

Publications

Calinon, S. (2023). A practical guide to learning and control problems in robotics solved with second-order optimization. Idiap Research Institute.

Links

• Website: https://robotics-codes-from-scratch.github.io/
• Repository: https://gitlab.idiap.ch/rli/robotics-codes-from-scratch

Advantages

Large collection of examples covering a wide variety of topics in robotics.

Applications

• Robotics
• Optimal control
• Model-based optimization

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Jacobian

iLQR Manipulator

Riemannian Manifold

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