# Walking3LP

A MATALB GUI for walking animation based on the 3LP walking model

Instructions:

* Run the file "Walking3LP.m" in MATLAB 2014 or above

This project is licensed under the terms of a Non-Commercial Academic Source Code license.

Here is the list of publications involved:

* Walking model: [Faraji, Salman, and Auke Jan Ijspeert. "3LP: a linear 3D-walking model including torso and swing dynamics." the international journal of robotics research 36.4 (2017): 436-455.](https://journals.sagepub.com/doi/abs/10.1177/0278364917708248)

* Walking controller: [Faraji, Salman, Philippe Muellhaupt, and Auke Jan Ijspeert. "Imprecise dynamic walking with time-projection control." arXiv preprint arXiv:1811.03984 (2018).](https://arxiv.org/abs/1811.03984) 

* Human-like animations: [Faraji, Salman, and Auke Jan Ijspeert. "Scalable closed-form trajectories for periodic and non-periodic human-like walking." arXiv preprint arXiv:1803.10048 (2018).](https://arxiv.org/abs/1803.10048)

* Estimation of energies: [Faraji, Salman, Amy Roning Wu and Auke Jan Ijspeert. Faraji, Salman, Amy R. Wu, and Auke J. Ijspeert. "A simple model of mechanical effects to estimate metabolic cost of human walking." Scientific reports 8.1 (2018): 10998.](https://www.nature.com/articles/s41598-018-29429-z)

* Robotics application: [Faraji, Salman, Hamed Razavi, and Auke Jan Ijspeert. "Push recovery with stepping strategy based on time-projection control." arXiv preprint arXiv:1801.02151 (2018).](https://arxiv.org/abs/1801.02151) 
