A Topological Approach to Gait Generation for Biped Robots: Supplemental Material
The content in this zip file contains a video showing animations of all gaits presented in the figures of the paper as well as the source code for computing walking gaits from equilibria using numerical continuation methods. Further information can be found in the README.txt file. The content can also be downloaded for free at https://github.com/nr-codes/BipedalGaitGeneration.
After downloading the zip file (also available on GitHub), unzip and follow the instructions in README.txt.