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  1. inverted_pendulum_swing_up inverted_pendulum_swing_up Public

    Using fmincon to solve a nonlinear program, and achieves local optima.

    MATLAB

  2. mujoco_complex_terrain mujoco_complex_terrain Public

    Complex terrain in mujoco .xml file examples. I have constructed the enviornment including the rock, slope wavefield, et. al..

    1

  3. HTEC_foot_urdf HTEC_foot_urdf Public

    Contains the .urdf file .xml file and .stl file. if you want to try this foot, please contact me, we have conduct some experiment in adapatability and stablity.

  4. whole-body-controller whole-body-controller Public

    considers the centroid and the end pos

    MATLAB 1

  5. NMPC_landing_SLIPbased NMPC_landing_SLIPbased Public

    MATLAB

  6. slip_5link_walk slip_5link_walk Public

    using reduced order model to generate the whole body motion, achieving walking motion in 5link bipedal robot

    MATLAB