Code for 6.832 final project.
Implements Discrete Mechanics and Optimal Control (DMOC) for the compass gait, as per this paper: http://ames.gatech.edu/PeAmMa2007.pdf.
Unfortunately, I couldn't get it to work.
Code for 6.832 final project.
Implements Discrete Mechanics and Optimal Control (DMOC) for the compass gait, as per this paper: http://ames.gatech.edu/PeAmMa2007.pdf.
Unfortunately, I couldn't get it to work.