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A maintained version of this code is available online at: https://github.com/pwensing/RPNA A pre-print of the paper introducing this algorithm is available here: https://arxiv.org/abs/1711.03896
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To reproduce the examples in the accompanying paper, run the following at the MATLAB command line
RPNA_Examples -
Open RPNA_Examples to change the system (PUMA/SCARA/Cheetah), fixed vs. floating-base settings, and toggle the consideration of motor rotor inertias.
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A MATLAB implementation of the Recursive Parameter Nullspace Algorithm - Paper Under Review
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