Trajectory-Optimization-Pyomo-

Description

This repository contains the models and optimal trajectories for a monopod and biped robot. All code is run using Jupyter notebook in the test-ipopt conda environment. The videos in each trajectory represent the optimal trajectories.

Done

Need To Do

1. Measure mass values
2. Update solidworks model with values
3. Get inertia values from solidworks
4. Convert approach using the physical education toolbox