Readme -- Multi-Phase Simple Walker

This project shows how to compute a two-phase bipedal gait using trajectory optimization

Entry-Point:

• GAIT_Run/MAIN_Run.m
  • Construct a two-phase running gait (flight - stance - flight - stance ...)
• GAIT_Walk/MAIN_Walk.m
  • Construct a two-phase walking gait (double stance - single stance - double stance - single stance ...)
• Derive_Equations_of_Motion/MAIN_*.m
  • Scripts that use the Matlab Symbolic toolbox to derive the dynamics for each phase of motion.

Dependencies:

• GPOPS-II trajectory optimization software for Matlab.