5Link_2D

Matlab simulation of a 5 Link Biped Robot.
Hybrid Zero Dynamics of Planar Biped Walkers. E. R. Westervelt et al.
Generate Inertia and Drift matrices using matrices.m and the extended matrices using Ematrices.m
Generate Fixed Point of the Poincare map using TrajOptim.
Run mainloop.m to simulate the limit cycle.

Name		Name	Last commit message	Last commit date
Latest commit History 9 Commits
C_e.m		C_e.m
C_q.m		C_q.m
D_e.m		D_e.m
D_q.m		D_q.m
E.m		E.m
Ematrices.m		Ematrices.m
G_e.m		G_e.m
G_q.m		G_q.m
JacLfh.m		JacLfh.m
Lfh.m		Lfh.m
PSIi.m		PSIi.m
README.md		README.md
StepLen.m		StepLen.m
bazier.m		bazier.m
closedLoopControl.m		closedLoopControl.m
contact_force.m		contact_force.m
fixed_point_F=0.mat		fixed_point_F=0.mat
fixed_point_mod.mat		fixed_point_mod.mat
goodout.mat		goodout.mat
h_q.m		h_q.m
impactDetection.m		impactDetection.m
impactMap.m		impactMap.m
lieController.m		lieController.m
limitcycle.jpg		limitcycle.jpg
mainLoop.m		mainLoop.m
matrices.m		matrices.m
new_fixed_point_mod.mat		new_fixed_point_mod.mat
nonlinear.m		nonlinear.m
objective.m		objective.m
value_assign.m		value_assign.m
write_fcn.m		write_fcn.m

dhruvthanki/5Link_2D

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