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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Feeds
Submitted
OptimTraj -- Trajectory Optimization Library
A toolbox for Matlab, for solving continuous time trajectory optimization problems
4 years ago | 17 downloads |
Submitted
Bouncing-Ball: Tutorial for ode45 events.
Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
8 years ago | 1 download |
Submitted
fitSplineToData
Fit a cubic spline to a data set by solving a QP, with option to constrain boundary conditions.
8 years ago | 1 download |
Submitted
MatthewPeterKelly/Polynomial_Smoothing_Matlab
Polynomial Smoothing for basic functions
8 years ago | 1 download |
Submitted
circularArc3d
Computes a circular arc that passes through points in 3D space with a prescribed tangent vector.
8 years ago | 1 download |
Submitted
rootSolve(func, xLow, xUpp, tol)
This function uses Ridder's Method to do non-linear root finding
8 years ago | 2 downloads |
Submitted
fitPiecewiseLinear(t, z, tGuess)
Computes a best-fit linear spline with arbitrary grid spacing
8 years ago | 1 download |
Submitted
PCHIP -- root solve
Fit a PCHIP spline through a data set and then compute the roots of the spline
8 years ago | 1 download |
Submitted
MatthewPeterKelly/Bezier_Curves
A few Matlab functions for creating and evaluating bezier curves.
8 years ago | 3 downloads |
Submitted
ppDer(pp)
Computes the time-derivative of a piecewise-polynomial spline
8 years ago | 2 downloads |
Submitted
MatthewPeterKelly/Chebyshev_Polynomials
Tutorial for working with Chebyshev Orthogonal Polynomials
8 years ago | 1 download |
Submitted
Get roots of a data set
Given a scalar function that is defined on a grid, compute the roots of the curve.
8 years ago | 1 download |
Submitted
diffCenterVar
1st and 2nd derivatives, non-uniform time grid, second-order method
9 years ago | 1 download |
Submitted
getPolyRoots(C,tBnd)
Find all roots of polynomial and derivative on a bounded interval
9 years ago | 1 download |
Submitted
LineIntersection
Given two line segments, compute the intersection point.
9 years ago | 2 downloads |
Submitted
FindClosestPoint
Given a line AB, and a point C, find point D on line AB that is closest to C.
9 years ago | 2 downloads |
Submitted
Simple Catapult Simulation
Simulation of a simple catapult using ode45 with event detection.
9 years ago | 5 downloads |
Submitted
rombergQuadrature
Computes integral of vector functions using Romberg quadrature.
9 years ago | 1 download |
Submitted
MatthewPeterKelly/Lagrange_Mechanics_Derivations
Tutorial using Lagrange equations to derive equations of motion for mechanical systems.
9 years ago | 1 download |
Submitted
Minimum-Jerk Trajectory with Constraints
Solve multi-segment kinematic trajectory optimization. Minimum jerk, Chebyshev collocation.
9 years ago | 1 download |
Submitted
Markov Decision Process - Pendulum Control
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
9 years ago | 3 downloads |
Submitted
Gradient_of_Backslash
Computes gradient of f(x) = A(x) \ b(x). Used for optimization.
9 years ago | 1 download |
Submitted
Bulirsch-Stoer
Solves an initial value problem. Good for very accurate solutions for smooth systems.
9 years ago | 1 download |
Submitted
logKeyPress
Logs each key press and time, and saves to a data file.
9 years ago | 2 downloads |
Submitted
Merge Options
Merge a struct of default options with a struct of user options
9 years ago | 1 download |
Submitted
Particle Swarm Optimization
Non-linear parameter optimization with PSO. Includes many examples.
9 years ago | 2 downloads |
Submitted
diffCenter
Computes the second-order finite difference approximation.
9 years ago | 1 download |
