delyle/Optimize-Symmetrical-Quadruped: Optimize Symmetrical Quadruped

This is an updated release of OptSymQuad. This software uses through-contact optimization (the general approach is described at https://dx.doi.org/10.1371%2Fjournal.pcbi.1007444) to find symmetrical gaits that optimize a work-based objective. This particular code was used to explore the effect of speed and moment of inertia on optimal gait, as described in the paper "The Murphy number: how pitch moment of inertia dictates quadrupedal walking and running energetics". Optimal solutions and their beat number for a large set of moment of inertia and speed are also provided as matlab binaries.