biconMP

BiconMP - A Non linear MPC package for legged robots

BiconMP is a generic fast non linear optimization package for legged robots (quadrupeds, humanoid and bipeds). It can generate almost any desired behavior on a robot. Additionally, it has a lot of helper classes that automatically generate contact plans and that make it easy to tune the solver.

The solver is available in this link !

To deploy the BiconMP on the robot one can look at rt_biconvex repository for example code. This code uses ros2 to quickly generate multiple control threads.

Please contact Avadesh Meduri and Paarth shah for questions regarding the solver.