Dynamics simulation of a parallel leg using maximal coordinates and variational integration. Written in Julia.
The main branch is set to zero-gravity by default to demonstrate PD control of the leg.
Use run.jl to run the code.
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Dynamic simulation of a five bar leg using maximal coordinates and variational integration. Written in Julia.
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bbokser/hopper-sim
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Dynamic simulation of a five bar leg using maximal coordinates and variational integration. Written in Julia.
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