crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Bibliography
[1]

Justin Carpentier and Nicolas Mansard. Analytical Derivatives of Rigid Body Dynamics Algorithms. 2018.

[2]

C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud, M. Naveau, J. Carpentier, L. Righetti, S. Vijayakumar, and N. Mansard. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. In IEEE International Conference on Robotics and Automation (ICRA), 2020.