MIT Underactuated Robotics | Optimized Gear Ratios for the Mini Cheetah Platform

This project focused on using trajectory optimization to optimize the hip and knee gear ratios for a 2DoF simplified leg based of the Mini Cheetah platform. Paper: GitHub: (MIT License) By: Fiona Gillespie and Adi Mehrotra -------- Special thanks to: Professor Sangbae Kim, Matt Chignoli, Charles Khazoom, Elijah B. Stanger-Jones, Andrew SaLoutos, Steve Heim (MIT Biomimetic Robotics Lab). And Professor Russ Tedrake, Alex Amice, Lu Yang ( Course Staff).