Matthew Kelly

Last seen: oltre 5 anni fa | Attivo dal 2015

Followers: 8 Following: 0

Messaggio

I recently completed a PhD from Cornell University in robotics and now work in industry doing high-level robotics control. I am interested in:
- non-linear dynamics and control
- robotics
- path planning
- legged locomotion
- bipedal walking
- under-actuated systems
- trajectory optimization
- parameter optimization

Website: www.matthewpeterkelly.com

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Inviato

OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems

oltre 5 anni fa | 3301 download |

4.9 / 5

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Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.

circa 9 anni fa | 1606 download |

4.8 / 5

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fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.

circa 9 anni fa | 142 download |

0.0 / 5

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MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions

circa 9 anni fa | 68 download |

0.0 / 5

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circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector.

oltre 9 anni fa | 58 download |

0.0 / 5

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rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding

oltre 9 anni fa | 262 download |

0.0 / 5

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fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing

oltre 9 anni fa | 196 download |

0.0 / 5

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PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline

oltre 9 anni fa | 84 download |

5.0 / 5

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MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.

oltre 9 anni fa | 205 download |

0.0 / 5

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pwqh(t,x,v,a)
piece-wise quintic-Hermite spline generation

oltre 9 anni fa | 103 download |

0.0 / 5

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ppDer(pp)
Computes the time-derivative of a piecewise-polynomial spline

oltre 9 anni fa | 216 download |

0.0 / 5

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MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials

oltre 9 anni fa | 323 download |

0.0 / 5

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Get roots of a data set
Given a scalar function that is defined on a grid, compute the roots of the curve.

oltre 9 anni fa | 104 download |

0.0 / 5

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diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method

circa 10 anni fa | 209 download |

5.0 / 5

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getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval

circa 10 anni fa | 46 download |

0.0 / 5

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LineIntersection
Given two line segments, compute the intersection point.

oltre 10 anni fa | 274 download |

5.0 / 5

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FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C.

oltre 10 anni fa | 83 download |

0.0 / 5

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Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.

oltre 10 anni fa | 686 download |

5.0 / 5

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rombergQuadrature
Computes integral of vector functions using Romberg quadrature.

oltre 10 anni fa | 74 download |

0.0 / 5

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MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.

oltre 10 anni fa | 445 download |

5.0 / 5

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Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.

oltre 10 anni fa | 1115 download |

5.0 / 5

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Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.

oltre 10 anni fa | 380 download |

5.0 / 5

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Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.

oltre 10 anni fa | 64 download |

0.0 / 5

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Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.

oltre 10 anni fa | 250 download |

3.7 / 5

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drawArrow
Draws an arrow between two points.

oltre 10 anni fa | 1650 download |

4.0 / 5

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logKeyPress
Logs each key press and time, and saves to a data file.

oltre 10 anni fa | 171 download |

0.0 / 5

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Merge Options
Merge a struct of default options with a struct of user options

oltre 10 anni fa | 108 download |

0.0 / 5

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Ring Bell
Plays a short audio clip of a bell ringing

oltre 10 anni fa | 214 download |

5.0 / 5

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Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.

oltre 10 anni fa | 1895 download |

5.0 / 5

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diffCenter
Computes the second-order finite difference approximation.

oltre 10 anni fa | 270 download |

1.0 / 5