Quadruped walking explorations

Requires:

• Mosek academic license: http://mosek.com/resources/academic-license
• Gurobi academic license: http://www.gurobi.com/products/licensing-and-pricing/academic-licensing
• tbxmanager for matlab http://tbxmanager.com/
• yalmip for matlab
  • you can install yalmip with tbxmanager install yalmip from within matlab

Setup:

git submodule update --init --recursive
make

Running the solver

cd matlab
matlab

in the matlab console:

sol = testQuadrupedNonGaited();
playbackLittleDog(sol);