This is a project done at the University of Malaga during a final Project Thesis. The aim of this project is to develope a ECG, a device that can measure the heart's electrical signal.

This repository is based on Linear-Quadratic-Gaussian (LQG) based stabilization-control and estimation for a single-plane drone model along a desired Non-linear trajectory. The code presented here …

Expositions for modeling SE(2) locomotion of legged systems through the Geometric Mechanics framework

This is the code repository for the paper titled "Geometric Mechanics of Contact-Switching Systems" (PDF: https://arxiv.org/abs/2308.14357)