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
Your submission is selected as "Pick of The Week"
Awarded to Matthew Kelly on 09 Oct 2019
Publish your first review
Awarded to Matthew Kelly on 09 Oct 2019
Your submissions received 25 five star ratings
Awarded to Matthew Kelly on 09 Oct 2019
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
Content Feed
Submitted
OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems
3 years ago | 19 downloads |
Submitted
Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
6 years ago | 6 downloads |
Submitted
fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.
6 years ago | 1 download |
Submitted
MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions
6 years ago | 1 download |
Submitted
circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector.
6 years ago | 1 download |
Submitted
rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding
6 years ago | 2 downloads |
Submitted
fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing
6 years ago | 5 downloads |
Submitted
PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline
6 years ago | 1 download |
Submitted
MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
6 years ago | 1 download |
Submitted
ppDer(pp)
Computes the time-derivative of a piecewise-polynomial spline
7 years ago | 3 downloads |
Submitted
MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials
7 years ago | 3 downloads |
Submitted
Get roots of a data set
Given a scalar function that is defined on a grid, compute the roots of the curve.
7 years ago | 2 downloads |
Submitted
diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method
7 years ago | 1 download |
Submitted
getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval
7 years ago | 1 download |
Submitted
LineIntersection
Given two line segments, compute the intersection point.
7 years ago | 1 download |
Submitted
FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C.
7 years ago | 1 download |
Submitted
Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.
7 years ago | 5 downloads |
Submitted
rombergQuadrature
Computes integral of vector functions using Romberg quadrature.
8 years ago | 1 download |
Submitted
MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.
8 years ago | 1 download |
Submitted
Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
8 years ago | 4 downloads |
Submitted
Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
8 years ago | 1 download |
Submitted
Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.
8 years ago | 1 download |
Submitted
Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.
8 years ago | 1 download |
Submitted
logKeyPress
Logs each key press and time, and saves to a data file.
8 years ago | 3 downloads |
Submitted
Merge Options
Merge a struct of default options with a struct of user options
8 years ago | 2 downloads |
Submitted
Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.
8 years ago | 7 downloads |
Submitted
diffCenter
Computes the second-order finite difference approximation.
8 years ago | 1 download |
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