Matlab simulation of a 5 Link Biped Robot.
Hybrid Zero Dynamics of Planar Biped Walkers. E. R. Westervelt et al.
Generate Inertia and Drift matrices using matrices.m and the extended matrices using Ematrices.m
Generate Fixed Point of the Poincare map using TrajOptim.
Run mainloop.m to simulate the limit cycle.
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Matlab simulation of a 5 Link Biped Robot
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