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Double-Pendulum-WalkerIPOPTinfo.txt
Double_Pendulum_Dynamics.m
Double_Pendulum_HeelStrike.m
Double_Pendulum_Kinematics.m
MAIN.m
README.md
README.txt
SmoothAbs.m
WrapAngle.m
plotOutput.m
walkerContinuous.m
walkerEndpoint.m

README.md

Double Pendulum Walker -- Trajectory Optimization

===================================================

This code runs a trajectory optimization using GPOPS2 to find an optimal periodic walking trajectory for the double pendulum model of walking: point mass at the hip and at the swing foot, ankle actuator, hip actuator, and push-off impulse.

Run: MAIN.m

The dynamics were derived automatically (code not included)