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sachinumans
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SAUmansThesis
All code written for the Systems&Control Master of Science thesis of Sachin Umans
MIT License
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Actually linearise the model and use a kalman filter instead of extended
#49
sachinumans
opened
10 months ago
0
Make Double Stance in model time-based instead of time-step based
#48
sachinumans
opened
10 months ago
0
Transformed UKF into EKF and updated XCoM
#47
sachinumans
closed
10 months ago
0
Change orientation from a state channel to an input channel in the UKF
#46
sachinumans
closed
11 months ago
0
Add angular acceleration estimation and add this to measurement model
#45
sachinumans
closed
11 months ago
0
Add angular velocity to input propagation in UKF
#44
sachinumans
closed
11 months ago
0
Write function generating a BoS expression
#43
sachinumans
closed
10 months ago
0
Write function to output XcoM measures given state and BoS
#42
sachinumans
closed
10 months ago
0
Make CoM position and velocity body relative instead of absolute
#41
sachinumans
closed
11 months ago
0
Look into model output error
#40
sachinumans
closed
11 months ago
0
FPE is sensitive to leg preference
#39
sachinumans
closed
11 months ago
2
Perform statistical analysis on missing dynamics in phase transitions, and put them into reset maps
#38
sachinumans
closed
12 months ago
1
In training, determine measured step position through weighted average
#37
sachinumans
closed
1 year ago
0
Make analytical oscillator
#36
sachinumans
closed
10 months ago
0
Model addition: Add (jerk) dampner to CoM
#35
sachinumans
opened
1 year ago
1
Automated indexing
#34
alexandraministeru
closed
1 year ago
0
Improve forceplate position filtering in extractData()
#33
sachinumans
closed
1 year ago
0
Look into conferences
#32
sachinumans
opened
1 year ago
0
Create a long term stable autonomous walker
#31
sachinumans
closed
1 year ago
0
Create training objective function: Splice phases
#30
sachinumans
closed
1 year ago
0
Rewrite EoM functions in relative vectors
#29
sachinumans
closed
1 year ago
0
Create training objective funtion: derivative fitting
#28
sachinumans
closed
1 year ago
0
runUKF.m is horribly broken
#27
sachinumans
closed
1 year ago
0
Investigate lateral/sagittal plane confusion in model
#26
sachinumans
closed
1 year ago
1
Go through code, get rid of hardcoded 120 / 100 Hz measurements
#25
sachinumans
opened
1 year ago
0
Rewrite ValidateFPE to load saved model parameters
#24
sachinumans
closed
1 year ago
0
Reduce optimisation parameters in training process
#23
sachinumans
closed
11 months ago
1
Update validateFPE() to new datastructure
#22
sachinumans
closed
1 year ago
0
Train model on different walking speeds
#21
sachinumans
opened
1 year ago
0
Change Backward Euler into Trapezium differentiation
#20
sachinumans
closed
1 year ago
0
Purge unused code files and identify files in need of comments
#19
sachinumans
closed
1 year ago
1
Make midterm colloquium slides
#18
sachinumans
closed
11 months ago
0
Create midterm presentation structure
#17
sachinumans
closed
11 months ago
0
Gather and plot first observer results
#16
sachinumans
closed
11 months ago
0
Pick sensor position
#15
sachinumans
closed
11 months ago
1
Pick and argumentate KF
#14
sachinumans
closed
11 months ago
0
Tune KF
#13
sachinumans
closed
11 months ago
0
Update script to run the entire observer scheme
#12
sachinumans
closed
1 year ago
0
Animate walking model+FPE
#11
sachinumans
closed
1 year ago
0
Update old animation function to new data structure
#10
sachinumans
closed
11 months ago
0
Gather results of model+FPE running
#9
sachinumans
closed
11 months ago
0
Add feet position estimation in-the-loop
#8
sachinumans
opened
1 year ago
0
Improve Cholesky factorisation algorithm in UKF
#7
sachinumans
opened
1 year ago
0
Comment EoM functions
#6
sachinumans
closed
1 year ago
0
Purge unused EoM files
#5
sachinumans
closed
1 year ago
0
Draw new block diagram of global overview
#4
sachinumans
closed
1 year ago
1
Find initial state for model+FPE combination
#3
sachinumans
closed
1 year ago
0
Combine model to FPE
#2
sachinumans
closed
1 year ago
0
Compare Flywheel body to Combined body and pick one
#1
sachinumans
closed
1 year ago
2