About

This project exists to explore applications of infinitesimal contraction theory to a hybrid Spring Loaded Inverted Pendulum (SLIP) system. It is written in Julia, with the bulk of the code in a local Julia package called SLIP. The root directory of this repsository is itself a Julia Project (environment).

Requirements

This repository requires that Julia v1.7.0 is installed on the system.

Julia Usage

If Julia v1.7.0 is installed, then using this repository is quite simple. For instance, suppose that this repository is located on your filesystem at the relative path "./slip_contraction/". To begin, start Julia, and execute the following commands in the REPL:

using Pkg
# the following line makes this project the active julia environment,
# and automatically handles fetching and installing all dependencies
Pkg.develop(path="slip_contraction")

using SLIP

Note that the SLIP package should be loaded in develop mode, so that local changes to the SLIP package will be reflected when Julia reloads. Alternatively, if you use the Revise package, then changes to SLIP should be recompiled and loaded into the active Julia session automatically.

Python compatibility and requirements

Included in this repository is a simple example of how the SLIP package be used within Python. This requires python3 and PyJulia to be installed. See the script examples/python_examples.py for more information.