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Matlab implementation to simulate the non-linear dynamics of a fixed-wing unmanned areal glider. Includes tools to calculate aerodynamic coefficients using a vortex lattice method implementation, and to extract longitudinal and lateral linear systems around the trimmed gliding state.
OCTOPUS, an hexapod from Shanghai Jiao Tong University needs to walk without a camera system on top. An encoder based SLAM is presented along with the low level functionalities. Math. principles: Projective geometry, quaternion interpolation, linear estimation, static stability principle, involutive convergence, modelling of kinematic parallel s…
Determined the difference in Human Gait by recording and analyzing Human Gait trials pertaining to Lower Limb Transtibial Amputation simulated by an able-bodied subject wearing an Ankle Brace using Vicon Vero Motion Capture system and Vicon Nexus Software.
Foot shuffles are a method of stabilizing a quadruped without shifting the body position. This repository contains code for finding optimal foot shuffles for stabilizing a quadruped robot.
The implementation of our paper 't-k-means: A Robust and Stable k-means Variant', accepted by the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 2021.
A complete Routh-Hurwitz Stability method implementation, for a second, third and higher-order polynomials. Moreover, an optimized version is available which works in special conditions.
A Mathematical Model for Orbit Debris Proliferation. This project also includes Jacobian analysis for finding equilibrium solutions and stability point.
In this Ballbot system there was analysis for stability and Controllability of the robot. I found ways to control the Ballbot system for balancing at different electric motor torque during the course of its motion. Also, I designed the linear system of this Ball-bot at its equilibrium point. Moreover, I devised the non-linear system model for Ba…