Community Profile # Matthew Kelly

Last seen: 2 years ago Active since 2015

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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Submitted

OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems Submitted

Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain. Submitted

fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions. Submitted

MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions

Submitted

circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector. Submitted

rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding Submitted

fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing Submitted

PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline Submitted

MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.

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pwqh(t,x,v,a)
piece-wise quintic-Hermite spline generation

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ppDer(pp)
Computes the time-derivative of a piecewise-polynomial spline

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MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials

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Get roots of a data set
Given a scalar function that is defined on a grid, compute the roots of the curve. Submitted

diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method

Submitted

getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval Submitted

LineIntersection
Given two line segments, compute the intersection point. Submitted

FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C. Submitted

Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection. Submitted

Computes integral of vector functions using Romberg quadrature. Submitted

MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.

Submitted

Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation. Submitted

Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy. Submitted

Computes gradient of f(x) = A(x) \ b(x). Used for optimization.

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Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.

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drawArrow
Draws an arrow between two points. Submitted

logKeyPress
Logs each key press and time, and saves to a data file.

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Merge Options
Merge a struct of default options with a struct of user options

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Ring Bell
Plays a short audio clip of a bell ringing Submitted

Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.  