Biped Trajectory Optimization

NOTE : This project is no longer maintained

• Biped Trajectory Optimization
  • Dynamic Walking on sinusoidal terrain
  • Dynamic Walking on staired terrain
  • Dynamic Walking on sloped terrain
  • Dynamic Walking on flat terrain
  • 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

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