I study state estimation and control for simple hybrid systems like the Spring-Loaded Inverted Pendulum and the Lateral Leg Spring. In an effort to increase the transparancy and rigor of this endeavor, I'm working with Dr. Shai Revzen to make simulation and analysis codes freely available in Python.
You can access the individual source files by navigating to the project's directory:
Alternatively, if you have Mercurial installed, you can easily clone the repositories:
hg clone http://eecs.berkeley.edu/~sburden/python/uk .
Available here.
I also maintain a good deal of software written for Matlab. Feel free to use this code, but I encourage you to abandon Matlab as soon as possible.
You can access the individual source files by navigating to the project's directory:
Alternatively, if you have Mercurial installed, you can easily clone the repositories:
hg clone http://eecs.berkeley.edu/~sburden/matlab/tarTr .
Available here.
Unless otherwise noted, all the software above is freely available under the GPLv3 and the following copyright applies.
Copyright (C) 2011 Sam Burden sburden@eecs.berkeley.edu http://eecs.berkeley.edu/~sburden/sam.html Shai Revzen shrevz@seas.upenn.edu http://shrevzen.nfshost.com/ Any use in a scientific or professional publication requires inclusion of a citation of the paper mentioned in the docstring of any function used. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.