harrythespartan9
Ph.D. Candidate @ AIM-RL, CU Boulder | Aspiring Roboticist and Polymath | MSME from UW with specialization in Controls Engineering
University of Colorado Boulder, Paul M. Rady Mechanical Engineering, Animal Inspired Movement and Robotics LaboratoryBoulder, CO
Pinned Repositories
Paper-Geometric-Mechanics-of-Contact-Switching-Systems
This is the code repository for the paper titled "Geometric Mechanics of Contact-Switching Systems" (PDF: https://arxiv.org/abs/2306.10276)
Paper-Geometrically-modulable-gait-design-for-Quadrupedal-robots
This is the code repository for the paper titled "Geometric Mechanics of Contact-Switching Systems" (PDF: https://arxiv.org/abs/2308.14357)
447
materials for ECE 447 (Control Systems) at the University of Washington in Seattle
548-21sp
AA/ECE/ME 548 -- Linear Multivariable Control -- at the University of Washington, Seattle
agilicious
Agile flight done right!
DASH-3D-Kinematics
This repository attempts to pose previous legged locomotion models from a geometric perspective.
Geometric-Mechanics-for-quasistatic-legged-systems
Expositions for modeling SE(2) locomotion of legged systems through the Geometric Mechanics framework
GeometricSystemPlotter
LQGDrone
This repository is based on Linear-Quadratic-Gaussian (LQG) based stabilization-control and estimation for a single-plane drone model along a desired Non-linear trajectory. The code presented here is based on fixed-time horizon LQG. It might serve as starting point for people interested in Linear-Quadratic Control and Estimation techniques (these techniques are "Energy of the system" based and very intuitive to learn. Thank you! :)
Simulation-DynamicalSystems
This repository holds a few simulations for both Linear and Non-linear dynamical systems.
harrythespartan9's Repositories
harrythespartan9/LQGDrone
This repository is based on Linear-Quadratic-Gaussian (LQG) based stabilization-control and estimation for a single-plane drone model along a desired Non-linear trajectory. The code presented here is based on fixed-time horizon LQG. It might serve as starting point for people interested in Linear-Quadratic Control and Estimation techniques (these techniques are "Energy of the system" based and very intuitive to learn. Thank you! :)
harrythespartan9/DASH-3D-Kinematics
This repository attempts to pose previous legged locomotion models from a geometric perspective.
harrythespartan9/548-21sp
AA/ECE/ME 548 -- Linear Multivariable Control -- at the University of Washington, Seattle
harrythespartan9/agilicious
Agile flight done right!
harrythespartan9/Geometric-Mechanics-for-quasistatic-legged-systems
Expositions for modeling SE(2) locomotion of legged systems through the Geometric Mechanics framework
harrythespartan9/GeometricSystemPlotter
harrythespartan9/Simulation-DynamicalSystems
This repository holds a few simulations for both Linear and Non-linear dynamical systems.
harrythespartan9/syropod_highlevel_controller
OpenSHC: A Versatile Multilegged Robot Controller
harrythespartan9/build-your-own-x
Master programming by recreating your favorite technologies from scratch.
harrythespartan9/driving-mpc
MPC for autonomous rover driving
harrythespartan9/Lie-MPC-AMVs
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles
harrythespartan9/MATLAB-GLTF
harrythespartan9/ModernRobotics
Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.
harrythespartan9/pages-sample
Sample jekyll site for CU Data Bootcamp 2023
harrythespartan9/Phase-Plane-and-Slope-Field
Apps for qualitative ODE analysis.
harrythespartan9/quad-sdk
Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
harrythespartan9/rob311
How to Build Robots and Make Them Move
harrythespartan9/rob501
Mathematics for Robotics
harrythespartan9/RTD_tutorial
Get started with Reachability-based Trajectory Design for static obstacles
harrythespartan9/SINDY-MPC
harrythespartan9/SSMLearn
Data-driven reduced order modeling for nonlinear dynamical systems
harrythespartan9/stat_rethinking_2023
Statistical Rethinking Course for Jan-Mar 2023
harrythespartan9/theseus
A library for differentiable nonlinear optimization
harrythespartan9/TinyMPC
Model-predictive control for microcontrollers
harrythespartan9/TinyMPC-AL
Model-predictive control based on augmented Lagrangian
harrythespartan9/tinympc-julia
Prototype, examples and code-generation of TinyMPC projects in Julia
harrythespartan9/tinympc-matlab
MATLAB interactive interface for TinyMPC
harrythespartan9/UMich-ROB-530-public
UMich 500-Level Mobile Robotics Course
harrythespartan9/underactuated
The course text for MIT 6.832 (and 6.832x on edX)
harrythespartan9/wost-simple
Simple didactic code + tutorial for the Walk on Stars (WoSt) algorithm