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ContactImplicitMPC.jl

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Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

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# ContactImplicitMPC.jl
[![CI](https://github.com/thowell/ContactImplicitMPC.jl/actions/workflows/CI.yml/badge.svg)](https://github.com/thowell/ContactImplicitMPC.jl/actions/workflows/CI.yml)
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This repository contains algorithms and examples from our paper: [Fast Contact-Implicit Model-Predictive Control](https://arxiv.org/abs/2107.05616).

A collection of examples are pre-generated in notebooks with the package, please try: [flamingo](examples/flamingo/flat.jl), [pushbot](examples/pushbot/push_recovery.jl), [hopper](examples/hopper/flat.jl), and [quadruped](examples/quadruped/flat.jl). Additional notebooks with examples from the paper can be [generated](examples/README.md).

## Installation
`ContactImplicitMPC` can be added via the Julia package manager (type `]`): 
```julia
pkg> add ContactImplicitMPC
```
## Flamingo
<img src="animations/flamingo.gif" alt="drawing" width="400"/>

## PushBot
<img src="animations/pushbot.gif" alt="drawing" width="400"/>

## Hopper Parkour
<img src="animations/hopper_parkour.gif" alt="drawing" width="250"/>

## Quadruped with Payload
<img src="animations/quadruped_payload.gif" alt="drawing" width="400"/>

## Hopper Monte Carlo
<img src="animations/hopper_monte_carlo.gif" alt="drawing" width="400"/>

## Quadruped Monte Carlo
<img src="animations/quadruped_monte_carlo.gif" alt="drawing" width="400"/>

## Reference Trajectories
The trajectories we track in the examples are generated using [contact-implicit trajectory optimization](https://journals.sagepub.com/doi/10.1177/0278364919849235) and can be run [here](https://github.com/thowell/motion_planning/tree/main/examples/contact_implicit).

## Simulator 
The differentiable simulator is available as a stand-alone package: [RoboDojo.jl](https://github.com/thowell/RoboDojo.jl).

## Citing
If you find ContactImplicitMPC useful in your project, we kindly request that you cite the following paper:
```
@article{lecleach2021fast,
	title={Fast Contact-Implicit Model-Predictive Control},
	author={Le Cleac'h, Simon  and Howell, Taylor A. and Schwager, Mac and Manchester, Zachary},
	journal={arXiv preprint arXiv:2107.05616},
	year={2021}
}
```
The article is available under Open Access [here](https://arxiv.org/abs/2107.05616).

ContactImplicitMPC.jl

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