Generate real-time optimized MPC controllers for precise end-effector trajectory tracking from URDF files.

Generate optimized state-feedback linearization and decoupling controllers within seconds by automatically deriving Euler-Lagrange equations from URDF files.

Numerical trick to speed up the inversion of definite matrices; Make inverses and matrix-matrix products involving inverses significantly faster to compute.

In 2022, our solution was awarded $10,000, making first place among over 160 participants in the Rohde & Schwarz Engineering Competition.