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
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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
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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
A soumis
OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems
presque 4 ans il y a | 23 téléchargements |
A soumis
Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
plus de 7 ans il y a | 10 téléchargements |
A soumis
fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.
plus de 7 ans il y a | 1 téléchargement |
A soumis
MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions
plus de 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 |
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 | 2 téléchargements |
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 |
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 |
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 | 2 téléchargements |
A soumis
MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials
presque 8 ans il y a | 6 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.
presque 8 ans il y a | 2 téléchargements |
A soumis
diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method
plus de 8 ans il y a | 3 téléchargements |
A soumis
getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval
plus de 8 ans il y a | 1 téléchargement |
A soumis
LineIntersection
Given two line segments, compute the intersection point.
plus de 8 ans il y a | 3 téléchargements |
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 | 3 téléchargements |
A soumis
Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.
plus de 8 ans il y a | 6 téléchargements |
A soumis
rombergQuadrature
Computes integral of vector functions using Romberg quadrature.
plus de 8 ans il y a | 1 téléchargement |
A soumis
MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.
presque 9 ans il y a | 5 téléchargements |
A soumis
Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
presque 9 ans il y a | 4 téléchargements |
A soumis
Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
presque 9 ans il y a | 3 téléchargements |
A soumis
Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.
presque 9 ans il y a | 1 téléchargement |
A soumis
Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.
presque 9 ans il y a | 1 téléchargement |
A soumis
logKeyPress
Logs each key press and time, and saves to a data file.
presque 9 ans il y a | 5 téléchargements |
A soumis
Merge Options
Merge a struct of default options with a struct of user options
presque 9 ans il y a | 2 téléchargements |
A soumis
Ring Bell
Plays a short audio clip of a bell ringing
presque 9 ans il y a | 2 téléchargements |
A soumis
Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.
presque 9 ans il y a | 8 téléchargements |
A soumis
diffCenter
Computes the second-order finite difference approximation.
presque 9 ans il y a | 1 téléchargement |
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