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IvLabs/biped_trajectory_optimization: Implementing trajectory optimization on bipedal system · GitHub

Name		Name	Last commit message	Last commit date
basic_tasks		basic_tasks
five_link_gait_generation		five_link_gait_generation
five_link_path_generation		five_link_path_generation
five_link_path_generation_matlab		five_link_path_generation_matlab
hopper_path_generation/phase_based		hopper_path_generation/phase_based
passive_walker		passive_walker
phase_based_new		phase_based_new
two_link_walker		two_link_walker
README.md		README.md

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README

Biped Trajectory Optimization

NOTE : This project is no longer maintained

Biped Trajectory Optimization

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

biped casadi direct-collocation non-linear-dynamics non-linear-optimization optimal-control trajectory-optimization

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