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CoDS illustrative example

The core idea of having this package is to provide a simple and flexible tool for the curious readers to assess the performance of DS based contact controller which was proposed in

Mirrazavi Salehian, S. S. and Billard, A. (2018) A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions. IEEE Robotics and Automation Letters (RA-L).

in different scenarios.

You can find a use case study of this here: https://www.youtube.com/embed/fhfBBMH4XVg

How to run

It is very simple! You just need to run the GUI file! See the following example: https://www.youtube.com/embed/eAcXKDPbpZg

Which version?

Yes, there are several branches and different commits. The stable and the final one is THIS ONE:

git clone https://github.com/sinamr66/CoDS_illustrative_example.git
git checkout GUI_guid

Dependences

This package is dependent on Yalmip and Sedumi. Both are already been included. You can find the latest version of these two packages here:

https://github.com/yalmip/YALMIP
http://sedumi.ie.lehigh.edu/

Contact information

For more information contact Sina Mirrazavi.