Unorganized Matlab implementation of the Paper:
Xiaobin Xiong and Aaron Ames.
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
IEEE Robotics and Automation Letters (2021).
@article{xiong2021slip,
title={SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program},
author={Xiong, Xiaobin and Ames, Aaron},
journal={IEEE Robotics and Automation Letters},
volume={6},
number={2},
pages={2122--2129},
year={2021},
publisher={IEEE}
}
Video: aSLIP walking on rough terrain.
Uploaded due to request. TO-DO: Many dependencies to be added; needs more clean-up