├── 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 ├── README.md ├── createDDPGNetworks.m ├── createDDPGOptions.m ├── createWalkingAgent2D.m ├── createWalkingAgent3D.m ├── plotTrainingResults.m ├── robotParametersRL.m ├── savedAgents │ ├── trainedAgent_2D_1.mat │ ├── trainedAgent_2D_2.mat │ ├── 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