Matthew Kelly
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
Feeds
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OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems
3 years 前 | 12 次下载 |
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Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
7 years 前 | 4 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54445/versions/4/screenshot.png)
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fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.
7 years 前 | 1 次下载 |
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MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions
7 years 前 | 1 次下载 |
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circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector.
7 years 前 | 1 次下载 |
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rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding
7 years 前 | 1 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54458/versions/4/screenshot.png)
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fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing
7 years 前 | 2 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/61915/versions/1/screenshot.png)
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PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline
7 years 前 | 1 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/61883/versions/1/screenshot.png)
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MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
7 years 前 | 1 次下载 |
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MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials
7 years 前 | 3 次下载 |
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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.
7 years 前 | 2 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/61300/versions/1/screenshot.png)
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diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method
8 years 前 | 1 次下载 |
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getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval
8 years 前 | 1 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/58136/versions/1/screenshot.png)
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FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C.
8 years 前 | 1 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/56791/versions/1/screenshot.png)
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Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.
8 years 前 | 8 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/56469/versions/1/screenshot.png)
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rombergQuadrature
Computes integral of vector functions using Romberg quadrature.
8 years 前 | 1 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/55703/versions/2/screenshot.png)
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MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.
8 years 前 | 3 次下载 |
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Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
8 years 前 | 2 次下载 |
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Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
8 years 前 | 1 次下载 |
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Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.
8 years 前 | 1 次下载 |
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Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.
8 years 前 | 1 次下载 |
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Merge Options
Merge a struct of default options with a struct of user options
8 years 前 | 2 次下载 |
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Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.
8 years 前 | 1 次下载 |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54849/versions/3/screenshot.png)