├── .gitignore ├── README.md ├── atrias-robot ├── +imu │ ├── BoomCoords.m │ ├── CmuCoords.m │ ├── IMUFailReason.m │ ├── IMUParams.m │ ├── IMUSys.m │ ├── IMUSysState.m │ ├── Quat.m │ ├── align_biases.m │ ├── align_corrhdg.m │ ├── align_lvl.m │ ├── align_rothdg.m │ ├── checkMotion.m │ └── init_imu_orient.m ├── .gitignore ├── 8medullas4elmos_eni.xml ├── DampingCheck.m ├── Encoder.m ├── atrias_system.slx ├── hipMedulla_eni.xml └── imu.slx ├── atrias-simulator ├── common │ ├── colors.m │ └── stopscript.m ├── images │ ├── biped.jpg │ ├── boom.png │ ├── boom_base.png │ ├── boom_yaw_shaft.png │ ├── foot.png │ ├── four_bar_link.jpg │ ├── hip_shaft.jpg │ ├── leg.jpg │ ├── lower_leg.jpg │ ├── rotor.jpg │ ├── shin.jpg │ ├── shin_sea.jpg │ ├── thigh.jpg │ ├── thigh_sea.jpg │ └── torso.png ├── models │ ├── boom_base.stl │ ├── boom_roll.stl │ ├── boom_yaw.stl │ ├── foot.stl │ ├── four_bar_link.stl │ ├── hip_shaft.stl │ ├── lower_leg.stl │ ├── lower_leg_two_point.stl │ ├── shin.stl │ ├── thigh.stl │ └── torso.stl ├── sim_startup.m └── simulators │ ├── atrias-2d │ ├── atrias_2d.slx │ ├── controller.m │ ├── mechanical_params.m │ └── simulation_params.m │ └── atrias-3d │ ├── atrias_3d.slx │ ├── atrias_3d_with_feet.slx │ ├── controller.m │ ├── mechanical_params.m │ └── simulation_params.m ├── cmu_startup.m ├── controllers ├── cmu │ └── .gitignore └── osu │ ├── .gitignore │ ├── coalesce-walk-2d │ ├── coalesce_walk_2d_robot.slx │ ├── coalesce_walk_2d_sim.slx │ ├── controller.m │ ├── gait.mat │ ├── mechanical_params.m │ └── simulation_params.m │ ├── imu-test │ └── imu_testing.slx │ ├── siavash │ ├── atrias_3d.slx │ ├── controller3D2.m │ ├── controller3D3.m │ ├── controller3Dhopping.m │ ├── controller3Dwalking3.m │ ├── controller3Dwalking4.m │ ├── controller3Dwalking5.m │ ├── siavash_walking.slx │ └── siavash_walking.slx.r2014b │ ├── simple-tests │ ├── position_controller.slx │ ├── small_square_wave.slx │ ├── test_atrias.slx │ ├── test_atrias_hip.slx │ ├── test_spring_stiffness.slx │ ├── thermistor_calculations.m │ ├── torque_controller.slx │ └── tracking_controller.slx │ ├── simple-walk-2d │ ├── controller.m │ ├── mechanical_params.m │ ├── simple_walk_2d_robot.slx │ ├── simple_walk_2d_sim.slx │ └── simulation_params.m │ └── simple-walk-3d │ ├── controller.m │ ├── mechanical_params.m │ ├── run_ps3.m │ ├── simple_walk_3d.slx │ ├── simple_walk_3d_robot.slx │ ├── simple_walk_3d_with_feet.slx │ └── simulation_params.m ├── daq_params_cmu.m ├── daq_params_osu.m ├── gui ├── GUIDE gui │ ├── gui.fig │ └── gui.m ├── backup_instrument_panel.slrtip ├── instrument_panel.slrtip ├── robotState_panel.slrtip ├── temperature_panel.slrtip └── voltage_panel.slrtip ├── osu_startup.m └── tools ├── Atrias.m ├── AtriasLeg.m ├── AtriasPostProcess.m ├── imu_align.m └── log-files ├── .gitignore └── saveData.m /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sir-avinash/atrias-matlab/HEAD/.gitignore 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