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IvLabs / biped_trajectory_optimization

Implementing trajectory optimization on bipedal system

Repository from Github https://github.comIvLabs/biped_trajectory_optimizationRepository from Github https://github.comIvLabs/biped_trajectory_optimization

trajectory-optimizationnon-linear-optimizationnon-linear-dynamicscasadioptimal-controlbipeddirect-collocation

Biped Trajectory Optimization

NOTE : This project is no longer maintained

Dynamic Walking on sinusoidal terrain

Human gait

Ostrich gait

Dynamic Walking on staired terrain

Human gait

Ostrich gait

Dynamic Walking on sloped terrain

Human gait

Ostrich gait

Dynamic Walking on flat terrain

Human gait

Ostrich gait

Gait Generation for single step

using CasADi library in python

Trajectory Optimization on some basic systems

cartpole on python using CasADi

simple pendulum

cartpole on C++

Passive Walking of 2-link bipedal system

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Implementing trajectory optimization on bipedal system

trajectory-optimizationnon-linear-optimizationnon-linear-dynamicscasadioptimal-controlbipeddirect-collocation

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Language:Python 87.4%Language:MATLAB 9.1%Language:C++ 2.0%Language:CMake 1.5%