Citation

To cite TROPIC, we suggest the following citation:

[Link] M. Fevre, P. M. Wensing, and J. P. Schmiedeler, "Rapid Bipedal Gait Optimization in CasADi", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3672-3678.

Get Started

Follow these steps to run the 12-DOF spatial biped example:

• Run TROPIC_add_path() from the Matlab command line in the main TROPIC directory.
• Go to examples/spatial-12-dof-biped/ and open main.m
• Run main.m (this will overwrite the seed file with the newly optimized gait), or run each section and stop after the animation.

TODO

• Add 20-DOF spatial biped robot

  Gait optimization on full-order dynamics:

  

• Add reaction wheel system (RWS) or flywheel to planar five-link biped model

  

• Add flat feet

• Add "get started" explanations