# ethz-adrl/towr

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1,062 stars · 250 forks · C++ · BSD-3-Clause

## Links

- GitHub: https://github.com/ethz-adrl/towr
- Homepage: http://wiki.ros.org/towr
- awesome-repositories: https://awesome-repositories.com/repository/ethz-adrl-towr.md

## Topics

`biped` `collocation` `computer-graphics` `eigen` `ifopt` `ipopt` `legged-robots` `locomotion` `motion-planning` `nonlinear-programming` `physics-based-animation` `quadruped` `robot` `ros` `snopt` `trajectory-optimization` `xpp`

## Description

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

## Tags

### Part of an Awesome List

- [Motion Planning](https://awesome-repositories.com/f/awesome-lists/devtools/motion-planning.md) — Trajectory optimization for legged robots.