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PDW Matlab Files

Matlab files illustrating the use of the Newton-Raphson method to find limit cycles of Garcia's simplest point foot walker. Garcia M, Chatterjee A, Ruina A, Coleman M. The simplest walking model: Stability, complexity, and scaling. ASME J Biomech Eng 1998.

MainFile.m
 
TransEqns.m
 
StrideMap.m
 
stepevents.m
 
StabilChk.m
 
NewtonStep.m
 
NewtonRaphson.m
 
EOM.m
 
draw.m
 
animate.m
 
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