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Implementing trajectory optimization on bipedal system

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Biped Trajectory Optimization

NOTE : This project is no longer maintained

Dynamic Walking on sinusoidal terrain

Human gait

Ostrich gait

Dynamic Walking on staired terrain

Human gait

Ostrich gait

Dynamic Walking on sloped terrain

Human gait

Ostrich gait

Dynamic Walking on flat terrain

Human gait

Ostrich gait

Gait Generation for single step

using CasADi library in python

Trajectory Optimization on some basic systems

cartpole on python using CasADi

simple pendulum

cartpole on C++

Passive Walking of 2-link bipedal system

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Implementing trajectory optimization on bipedal system

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trajectory-optimization optimal-control biped non-linear-optimization casadi non-linear-dynamics direct-collocation

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