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
Statistiques
RANG
159 662
of 293 508
RÉPUTATION
0
CONTRIBUTIONS
1 Question
0 Réponses
ACCEPTATION DE VOS RÉPONSES
0.0%
VOTES REÇUS
0
RANG
869 of 20 037
RÉPUTATION
2 124
CLASSEMENT MOYEN
4.20
CONTRIBUTIONS
46 Fichiers
TÉLÉCHARGEMENTS
96
ALL TIME TÉLÉCHARGEMENTS
18120
RANG
of 148 733
CONTRIBUTIONS
0 Problèmes
0 Solutions
SCORE
0
NOMBRE DE BADGES
0
CONTRIBUTIONS
0 Publications
CONTRIBUTIONS
0 Public Chaîne
CLASSEMENT MOYEN
CONTRIBUTIONS
0 Point fort
NOMBRE MOYEN DE LIKES
Feeds
A soumis
OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems
plus de 3 ans il y a | 12 téléchargements |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54386/versions/4/screenshot.png)
A soumis
Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
environ 7 ans il y a | 4 téléchargements |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54445/versions/4/screenshot.png)
A soumis
fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.
environ 7 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/64119/versions/2/screenshot.png)
A soumis
MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions
environ 7 ans il y a | 1 téléchargement |
A soumis
circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector.
plus de 7 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/62839/versions/1/screenshot.png)
A soumis
rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding
plus de 7 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54458/versions/4/screenshot.png)
A soumis
fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing
plus de 7 ans il y a | 2 téléchargements |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/61915/versions/1/screenshot.png)
A soumis
PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline
plus de 7 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/61883/versions/1/screenshot.png)
A soumis
MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
plus de 7 ans il y a | 1 téléchargement |
A soumis
pwqh(t,x,v,a)
piece-wise quintic-Hermite spline generation
plus de 7 ans il y a | 2 téléchargements |
A soumis
ppDer(pp)
Computes the time-derivative of a piecewise-polynomial spline
plus de 7 ans il y a | 3 téléchargements |
A soumis
MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials
plus de 7 ans il y a | 3 téléchargements |
A soumis
Get roots of a data set
Given a scalar function that is defined on a grid, compute the roots of the curve.
plus de 7 ans il y a | 2 téléchargements |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/61300/versions/1/screenshot.png)
A soumis
diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method
environ 8 ans il y a | 1 téléchargement |
A soumis
getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval
environ 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/58136/versions/1/screenshot.png)
A soumis
LineIntersection
Given two line segments, compute the intersection point.
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/56835/versions/1/screenshot.png)
A soumis
FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C.
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/56791/versions/1/screenshot.png)
A soumis
Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.
plus de 8 ans il y a | 8 téléchargements |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/56469/versions/1/screenshot.png)
A soumis
rombergQuadrature
Computes integral of vector functions using Romberg quadrature.
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/55703/versions/2/screenshot.png)
A soumis
MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.
plus de 8 ans il y a | 3 téléchargements |
A soumis
Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
plus de 8 ans il y a | 2 téléchargements |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54442/versions/4/screenshot.png)
A soumis
Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54441/versions/5/screenshot.png)
A soumis
Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.
plus de 8 ans il y a | 1 téléchargement |
A soumis
Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.
plus de 8 ans il y a | 1 téléchargement |
A soumis
logKeyPress
Logs each key press and time, and saves to a data file.
plus de 8 ans il y a | 3 téléchargements |
A soumis
Merge Options
Merge a struct of default options with a struct of user options
plus de 8 ans il y a | 2 téléchargements |
A soumis
Ring Bell
Plays a short audio clip of a bell ringing
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54864/versions/1/screenshot.png)
A soumis
Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54849/versions/3/screenshot.png)
A soumis
diffCenter
Computes the second-order finite difference approximation.
plus de 8 ans il y a | 1 téléchargement |
![Thumbnail](/matlabcentral/mlc-downloads/downloads/submissions/54459/versions/7/screenshot.png)