DMOC method for a simple pendulum swing-up control
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Updated
Mar 18, 2017 - MATLAB
DMOC method for a simple pendulum swing-up control
Trajectory jerk optimization with boundary constraints and state inequality constraints using directory methods.
Estimation of minimal inertial parameters of a space robot for motion planning and control
Optimal Control and Trajectory Tracking for the Ballbot (Nagarajan et al. 2014)
Combined Learning from Demonstration and Motion Planning
Toy robotic projects from winter holiday 2018-2019 and spring 2019 at Boston University
Code for "Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation", SIGGRAPH 2019
This optimization project aims to find the best trajectory of a 2-link robotic arm to achieve minimum joint torque over time when lifting objects up from ground
Indirect optimization for energy-optimal Lyapunov-to-Lyapunov transfer using heteroclinic connection as initial guess.
Trajectory optimisation using nonlinear programming.
Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.
Minimum jerk trajectory optimization based on Bernstein polynomials.
Trajectory Optimization Tool v1.0.10
A MATLAB file to generate minimum trajectory from one to another point.
Code accompaniment to 'Mechanisms for mid-air reorientation using tail rotation in gliding geckos' by Siddall, Byrnes, Full and Jusufi, accepted for publication in Integrative and Comparative Biology. https://dx.doi.org/10.17617/3.6k
The repository includes the description and implementation of the Direct Methods for Optimal Control.
Course project: optimal control of a 2 dof manipulator exploiting the DDP algorithm
Trajectory optimization for 2 degrees of freedom arm
Matlab codes for learning Robotics
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