├── README.md ├── 倒立摆-1126 ├── SimscapeCartPoleDDPG.mat ├── SimscapeCartpoleDDPGExample.mlx ├── rlCartPoleSimscapeModel.slxc └── slprj │ └── sim │ └── varcache │ └── rlCartPoleSimscapeModel │ ├── checksumOfCache.mat │ ├── tmwinternal │ └── simulink_cache.xml │ └── varInfo.mat └── 双足机器人 └── 1213 ├── ControlDesign ├── InverseKinematics │ ├── animateFootGait.m │ ├── calculateInvKin.mlx │ ├── evalFootGait.m │ └── legInvKin.m ├── MPCHumanoid │ ├── FIFOBuffer.m │ ├── designMPCWalkingPatternGen.mlx │ ├── invertedPendulum3D.png │ ├── lipm.jpg │ ├── setParams_sm_stick_humanoid.m │ ├── sphereData.mat │ └── testMPCWalkingPatternGen.slx ├── README.md ├── plotWalkingTraj.m ├── robotParametersCtrl.m ├── walkingRobot3DMPC.slx └── walkingRobot3DPath.slx ├── LIPM ├── README.md ├── animateInverseKinematics.mlx ├── animateLIPM.mlx ├── animateLIPMLocal.mlx ├── applicationLIPM.mlapp ├── defaultfootinfos.mat ├── defaultsimulationinputs.mat ├── defaultstepinfos.mat ├── getSwingFootTraj.m ├── interactiveRobotLIPM.slx ├── invKinBody2Foot.m └── walkingRobotLIPM.slx ├── Libraries ├── MultiphysicsLib │ ├── Libraries │ │ ├── +forcesPS │ │ │ ├── +hydraulic │ │ │ │ ├── PS_force_hydraulic_chamber_trans_comp.ssc │ │ │ │ ├── PS_force_hydraulic_chamber_trans_comp.svg │ │ │ │ ├── PS_force_hydraulic_chamber_trans_incomp.ssc │ │ │ │ ├── PS_force_hydraulic_chamber_trans_incomp.svg │ │ │ │ ├── lib.m │ │ │ │ └── sscprj │ │ │ │ │ ├── PS_force_hydraulic_chamber_trans_comp.pmdlg │ │ │ │ │ └── PS_force_hydraulic_chamber_trans_incomp.pmdlg │ │ │ ├── +math │ │ │ │ ├── PS_q_axs_to_qz.ssc │ │ │ │ ├── lib.m │ │ │ │ └── sscprj │ │ │ │ │ └── PS_q_axs_to_qz.pmdlg │ │ │ ├── +mechanical │ │ │ │ ├── PS_force_friction_rot.ssc │ │ │ │ ├── PS_force_friction_rot.svg │ │ │ │ ├── PS_force_friction_trans.ssc │ │ │ │ ├── PS_force_friction_trans.svg │ │ │ │ ├── PS_force_hardstop_rot.ssc │ │ │ │ ├── PS_force_hardstop_rot.svg │ │ │ │ ├── PS_force_hardstop_trans.ssc │ │ │ │ ├── PS_force_hardstop_trans.svg │ │ │ │ ├── lib.m │ │ │ │ └── sscprj │ │ │ │ │ ├── PS_force_friction_rot.pmdlg │ │ │ │ │ ├── PS_force_friction_trans.pmdlg │ │ │ │ │ ├── PS_force_hardstop_rot.pmdlg │ │ │ │ │ └── PS_force_hardstop_trans.pmdlg │ │ │ └── lib.m │ │ ├── Multibody_Multiphysics_Lib.slx │ │ ├── forcesPS_lib.slx │ │ └── slblocks.m │ ├── README.txt │ └── startup_sm_ssci.m └── walkingRobotUtils.slx ├── ModelingSimulation ├── Intermediate │ ├── initConditionPicker.mlapp │ ├── jointAngs.mat │ ├── walkingRobot_step1_mechanics.slx │ ├── walkingRobot_step2_motion.slx │ ├── walkingRobot_step3_contact.slx │ └── walkingRobot_step4_library.slx ├── README.md ├── compareActuatorTypes.m ├── robotParameters.m └── walkingRobot.slx ├── Optimization ├── README.md ├── SavedResults │ ├── optimizedData_01Nov19_1143.mat │ ├── optimizedData_03Nov19_1140.mat │ └── optimizedData_31Oct19_0741.mat ├── createSmoothTrajectory.m ├── doSpeedupTasks.m ├── optimizeRobotMotion.mlx ├── simulateWalkingRobot.m └── walkingRobotOptim.slx ├── README.md ├── ReinforcementLearning ├── robotParametersRL.m ├── savedAgents │ ├── pretrained │ │ ├── trainedAgent_2D_1.mat │ │ ├── trainedAgent_2D_2.mat │ │ ├── trainedAgent_2D_3.mat │ │ ├── trainedAgent_2D_4.mat │ │ ├── trainedAgent_3D_1.mat │ │ ├── trainedAgent_3D_2.mat │ │ ├── trainedAgent_3D_3.mat │ │ ├── trainedAgent_3D_4.mat │ │ ├── trainedAgent_3D_5.mat │ │ ├── trainedAgent_3D_6.mat │ │ ├── trainingResults_2D_02_22_2019_1713.mat │ │ ├── trainingResults_2D_02_27_2019_1008.mat │ │ └── trainingResults_3D_11_04_2019_0102.mat │ ├── trainedAgent_12_01_2022_1735.mat │ ├── trainedAgent_12_01_2022_2108.mat │ ├── trainingResults_12_01_2022_1735.csv │ ├── trainingResults_12_01_2022_2108.csv │ ├── trainingResults_3D_12_01_2022_1643.csv │ ├── yyd-5.mat │ └── 可视化强化学习训练过程.ipynb ├── slprj │ ├── _jitprj │ │ ├── jitEngineAccessInfo.mat │ │ ├── sHJZoj5Ii1zlleNt1nyfCIC.l │ │ └── sHJZoj5Ii1zlleNt1nyfCIC.mat │ ├── _sfprj │ │ ├── EMLReport │ │ │ ├── emlReportAccessInfo.mat │ │ │ └── sHJZoj5Ii1zlleNt1nyfCIC.mat │ │ ├── precompile │ │ │ ├── autoInferAccessInfo.mat │ │ │ ├── hsm9ljAGWugghGgpjXOv7G.mat │ │ │ └── sZwNQF2kUetHQbliiWhmUH.mat │ │ └── walkingRobotRL3D │ │ │ ├── _self │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ │ ├── amsi_serial.mat │ │ │ └── walkingRobotUtils │ │ │ └── sfun │ │ │ └── info │ │ │ └── binfo.mat │ └── sim │ │ └── varcache │ │ ├── walkingRobotRL2D │ │ ├── checksumOfCache.mat │ │ ├── tmwinternal │ │ │ └── simulink_cache.xml │ │ └── varInfo.mat │ │ └── walkingRobotRL3D │ │ ├── checksumOfCache.mat │ │ ├── tmwinternal │ │ └── simulink_cache.xml │ │ └── varInfo.mat ├── walkerInvKin.m ├── walkerResetFcn.m ├── walkingRobotRL2D.slx ├── walkingRobotRL2D.slxc ├── walkingRobotRL3D.slx └── 训练DDPG强化学习智能体-双足机器人行走-12011732.mlx ├── slprj └── sim │ └── varcache │ ├── walkingRobotRL2D │ ├── checksumOfCache.mat │ ├── tmwinternal │ │ └── simulink_cache.xml │ └── varInfo.mat │ └── walkingRobotRL3D │ ├── checksumOfCache.mat │ ├── tmwinternal │ └── simulink_cache.xml │ └── varInfo.mat 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