YuchuanLu / BasicGaitGen

Matlab code for basic gait generator for students

BasicGaitGen

Matlab code for basic gait generator for students
Please try following commands!

cd BasicGaitGen
tridiagonal_demo
invM = M^-1; 
figure; imagesc(M);
figure; imagesc(invM);

x = invM * zmpx;
y = invM * zmpy;