I am currently looking for students who are interested in helping us get humanoid robots to behave with agility. General approaches are described here and some papers on walking are here.
This page has pointers to relevant papers and software.
Unpacking the zip file pol-srch-pend1.zip creates the directory pol-srch-pend1. cd Matlab to that directory. There are several .m files that you can execute: testsim, test1, test2, ... The notes.txt file has more information.
Unpacking the zip file pol-srch-simple1.zip creates the directory pol-srch-simple1. cd Matlab to that directory. There are several .m files that you can execute: test1, test2, ... The notes.txt file has more information.
This example is in C, but might get converted to Matlab by me or by you. It uses the Numerical Recipes in C library, which you must provide. Look at biped/biped/notes for more info.
A very simple example of altering trajectory parameters.
Another inverted pendulum example of trajectory optimization, this time using splines. Executing the commands in notes.txt will lead to interesting results. This inverted pendulum is slightly different from that in Example 1 and 4.
This example is in C, but might get converted to Matlab by me or by you. Look at README.TXT
Thijs Mandersloot has kindly provided some example Matlab dynamic programming code for the compass gait walker (our version). The states are Poincare sections taken when the stance leg is vertical. Just run tm_sip_dp. The settings as they are now will run for three days. See if you can make this more efficient. Here is more info