Matthew Kelly
Followers: 6
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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DURCHSCHNITTLICHE ANZAHL DER LIKES
Your submissions were downloaded 100 or more times in a month
Awarded to Matthew Kelly on 01 Nov 2019
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Awarded to Matthew Kelly on 09 Oct 2019
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Awarded to Matthew Kelly on 09 Oct 2019
Your submissions received 25 five star ratings
Awarded to Matthew Kelly on 09 Oct 2019
Have 3 submissions connected to GitHub
Awarded to Matthew Kelly on 09 Oct 2019
Publish your first submission
Awarded to Matthew Kelly on 09 Oct 2019
Feeds
Gesendet
OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems
etwa 4 Jahre vor | 9 Downloads |
Gesendet
Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
mehr als 7 Jahre vor | 8 Downloads |
Gesendet
fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.
mehr als 7 Jahre vor | 1 Download |
Gesendet
MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions
mehr als 7 Jahre vor | 1 Download |
Gesendet
circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector.
fast 8 Jahre vor | 1 Download |
Gesendet
rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding
fast 8 Jahre vor | 1 Download |
Gesendet
fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing
fast 8 Jahre vor | 2 Downloads |
Gesendet
PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline
fast 8 Jahre vor | 1 Download |
Gesendet
MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
fast 8 Jahre vor | 3 Downloads |
Gesendet
pwqh(t,x,v,a)
piece-wise quintic-Hermite spline generation
fast 8 Jahre vor | 2 Downloads |
Gesendet
ppDer(pp)
Computes the time-derivative of a piecewise-polynomial spline
fast 8 Jahre vor | 3 Downloads |
Gesendet
MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials
etwa 8 Jahre vor | 5 Downloads |
Gesendet
Get roots of a data set
Given a scalar function that is defined on a grid, compute the roots of the curve.
etwa 8 Jahre vor | 1 Download |
Gesendet
diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method
mehr als 8 Jahre vor | 1 Download |
Gesendet
getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval
mehr als 8 Jahre vor | 1 Download |
Gesendet
LineIntersection
Given two line segments, compute the intersection point.
fast 9 Jahre vor | 1 Download |
Gesendet
FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C.
fast 9 Jahre vor | 3 Downloads |
Gesendet
Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.
fast 9 Jahre vor | 2 Downloads |
Gesendet
rombergQuadrature
Computes integral of vector functions using Romberg quadrature.
fast 9 Jahre vor | 1 Download |
Gesendet
MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.
fast 9 Jahre vor | 1 Download |
Gesendet
Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
fast 9 Jahre vor | 2 Downloads |
Gesendet
Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
fast 9 Jahre vor | 3 Downloads |
Gesendet
Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.
fast 9 Jahre vor | 1 Download |
Gesendet
Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.
fast 9 Jahre vor | 5 Downloads |
Gesendet
logKeyPress
Logs each key press and time, and saves to a data file.
etwa 9 Jahre vor | 2 Downloads |
Gesendet
Merge Options
Merge a struct of default options with a struct of user options
etwa 9 Jahre vor | 1 Download |
Gesendet
Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.
etwa 9 Jahre vor | 1 Download |
Gesendet
diffCenter
Computes the second-order finite difference approximation.
etwa 9 Jahre vor | 1 Download |
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