# HumanoidGaitOptimization

**Repository Path**: dujinyu/HumanoidGaitOptimization

## Basic Information

- **Project Name**: HumanoidGaitOptimization
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-03-19
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Humanoid Gait Optimization

Development of a trajectory planning for a humanoid robot using Lagrangian Dynamics, the Zero Moment Point theory and an Optimal Control approach to find the set of inputs which will enable the robot to perform a feasible gait.

![alt tag](https://github.com/felipheggaliza/HumanoidGaitOptimization/blob/master/Reference%2520Notes/Humanoid_Physics.JPG?raw=true)