For an introduction to Hybrid Zero Dynamics (HZD), check this paper:
http://web.eecs.umich.edu/~grizzle/papers/Grizzle_Westervelt_HZD_IsidoriFest.pdf
Contacts:
The library contains MATLAB scripts to generate locomotion gaits for quadruped robots.
Requirements:
- FROST (Fast Robot Optimization and Simulation Toolkit): https://github.com/ayonga/frost-dev
Usage:
A basic example is provided in matlab/minitaur_simple/main_opt.m. You may need to change the variable "frost_path" to your FROST installation directory.