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Ankle swing trajectory optimization using IPOPT for humanoid robots walking upstairs.

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Name		Name	Last commit message	Last commit date
Latest commit History 4 Commits
test_ipopt_cmake		test_ipopt_cmake
upstairs_matlab		upstairs_matlab
README.md		README.md
upstairsSim.gif		upstairsSim.gif

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MX_UpstairTrajOptim

Ankle swing trajectory optimization using IPOPT for humanoid robots walking upstairs.

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Ankle swing trajectory optimization using IPOPT for humanoid robots walking upstairs.

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C++ 58.8%
MATLAB 36.3%
CMake 1.9%
M 1.6%
C 1.4%