使用GPOPS-II进行轨迹优化，用于两阶段步行和跑步步态，用于简单的步行模型
资源文件列表
TwoPhaseOptimalGait-master/computerGeneratedCode/dynamics_double.m , 1773
TwoPhaseOptimalGait-master/computerGeneratedCode/dynamics_flight.m , 2013
TwoPhaseOptimalGait-master/computerGeneratedCode/dynamics_single.m , 2163
TwoPhaseOptimalGait-master/computerGeneratedCode/getPosVel_flight.m , 1547
TwoPhaseOptimalGait-master/computerGeneratedCode/getPosVel_single.m , 1206
TwoPhaseOptimalGait-master/computerGeneratedCode/getPower_double.m , 1136
TwoPhaseOptimalGait-master/computerGeneratedCode/getPower_flight.m , 1231
TwoPhaseOptimalGait-master/computerGeneratedCode/getPower_single.m , 1126
TwoPhaseOptimalGait-master/computerGeneratedCode/kinematics_double.m , 1834
TwoPhaseOptimalGait-master/computerGeneratedCode/kinematics_flight.m , 2979
TwoPhaseOptimalGait-master/computerGeneratedCode/kinematics_single.m , 2543
TwoPhaseOptimalGait-master/computerGeneratedCode/linearized_double.m , 1312
TwoPhaseOptimalGait-master/computerGeneratedCode/linearized_flight.m , 3490
TwoPhaseOptimalGait-master/computerGeneratedCode/linearized_single.m , 3207
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/getLinearizedEqns.m , 1074
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/jacobSolve.m , 1439
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/MAIN_Derive_DoubleStance.m , 13875
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/MAIN_Derive_Flight.m , 13355
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/MAIN_Derive_SingleStance.m , 13792
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/SubWrite__ContactForces.m , 648
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/SubWrite__Derivatives.m , 530
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/SubWrite__Intermediate.m , 339
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/SubWrite__Linearized.m , 1115
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/SubWrite__Parse_Inputs.m , 731
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Dynamics_DoubleStance.m , 2221
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Dynamics_Flight.m , 1583
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Dynamics_SingleStance.m , 1905
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_getPosVel_Flight.m , 2552
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_getPosVel_SingleStance.m , 2565
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_getPower_DoubleStance.m , 2129
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_getPower_Flight.m , 1745
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_getPower_SingleStance.m , 1759
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Kinematics_DoubleStance.m , 3615
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Kinematics_Flight.m , 3421
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Kinematics_SingleStance.m , 3433
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Linearized_DoubleStance.m , 2047
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Linearized_Flight.m , 1638
TwoPhaseOptimalGait-master/Derive_Equations_of_Motion/Write_Linearized_SingleStance.m , 1678
TwoPhaseOptimalGait-master/GAIT_Run/Continuous_Run.m , 3147
TwoPhaseOptimalGait-master/GAIT_Run/costFunc.m , 1462
TwoPhaseOptimalGait-master/GAIT_Run/DATA_Run.mat , 121201
TwoPhaseOptimalGait-master/GAIT_Run/Endpoint_Run.m , 3834
TwoPhaseOptimalGait-master/GAIT_Run/Gait_RunIPOPTinfo.txt , 10482
TwoPhaseOptimalGait-master/GAIT_Run/MAIN_Run.m , 2056
TwoPhaseOptimalGait-master/GAIT_Run/MAIN__cot_vs_speed.m , 3272
TwoPhaseOptimalGait-master/GAIT_Run/oldSoln_Run_CoT.mat , 2958156
TwoPhaseOptimalGait-master/GAIT_Run/Trajectory_Run.m , 18458
TwoPhaseOptimalGait-master/GAIT_Walk/Continuous_Walk.m , 2911
TwoPhaseOptimalGait-master/GAIT_Walk/costFunc.m , 1943
TwoPhaseOptimalGait-master/GAIT_Walk/DATA_Walk.mat , 106320
TwoPhaseOptimalGait-master/GAIT_Walk/Endpoint_Walk.m , 3141
TwoPhaseOptimalGait-master/GAIT_Walk/MAIN_Walk.m , 2277
TwoPhaseOptimalGait-master/GAIT_Walk/MAIN__cot_vs_speed.m , 3521
TwoPhaseOptimalGait-master/GAIT_Walk/oldSoln_Walk_CoT.mat , 146756
TwoPhaseOptimalGait-master/GAIT_Walk/oldSoln_Walk_Work.mat , 113189
TwoPhaseOptimalGait-master/GAIT_Walk/Trajectory_Walk.m , 17204
TwoPhaseOptimalGait-master/LICENSE.md , 1083
TwoPhaseOptimalGait-master/README.md , 626
TwoPhaseOptimalGait-master/shared/animation.m , 6248
TwoPhaseOptimalGait-master/shared/createFigure.m , 310
TwoPhaseOptimalGait-master/shared/footClearance.m , 298
TwoPhaseOptimalGait-master/shared/formatData.m , 9397
TwoPhaseOptimalGait-master/shared/formatTrajectory.m , 1932
TwoPhaseOptimalGait-master/shared/getPlotInfo.m , 5802
TwoPhaseOptimalGait-master/shared/Make_Struct.m , 266
TwoPhaseOptimalGait-master/shared/plotSolution.m , 12443
TwoPhaseOptimalGait-master/shared/saturate.m , 348
TwoPhaseOptimalGait-master/shared/save2pdf.m , 2184
TwoPhaseOptimalGait-master/shared/SmoothAbs.m , 759
TwoPhaseOptimalGait-master/shared/SmoothAbsFancy.m , 1172
TwoPhaseOptimalGait-master/shared/stitchData.m , 1763
TwoPhaseOptimalGait-master/shared/viewDataFile.m , 147
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/MAIN_walk_vs_run.m , 4700
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/oldSoln_Run_CoT.mat , 590175
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/oldSoln_Walk_CoT.mat , 460950
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/Run_1__IPOPT__10_Pts.fig , 21104
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/Run_2__SNOPT__25_Pts.fig , 40620
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/RUN_3__New_Cst.fig , 41458
TwoPhaseOptimalGait-master/shared/Walk_vs_Run_Experiment/Walk_vs_Run__CoT_vs_Speed.pdf , 11408