The swimmer dynamical system, invented by Rémi Coulom, is a testbed for advanced motor control algorithms. A chain of d links in a viscous liquid are simulated on a planar surface. The controller must apply the d-1 joint torques given the 2d+4-dimensional state vector, in order to propel the body towards a target. From Yuval Tassa .

Filename	Size	Update
swimmer_package_small\Swimmer Dynamics.pdf
.....................\angle_expand.m
.....................\draw_swimmer.m
.....................\f.m
.....................\init_graphs.m
.....................\initE.m
.....................\integrate.m
.....................\internalize.m
.....................\policy.m
.....................\select.m
.....................\sw_play.m
.....................\3 swimmer	nose=1	tr=1.mat
.....................\README
.....................\swimmer_package\3 swimmer	nose=1	tr=1.mat
.....................\...............\3 swimmer	nose=1	tr=30.mat
.....................\...............\4 swimmer	tr=1	low visc.mat
.....................\...............\4 swimmer	tr=30	low visc.mat
.....................\...............\5 swimmer	nose=1	tr=1.mat
.....................\...............\5 swimmer	nose=1	tr=20.mat
.....................\...............\5 swimmer	nose=3	tr=25.mat
.....................\...............\a 10 swimmer	nose=5	tr=1.mat
.....................\5 swimmer	nose=1	tr=20.mat
.....................\swimmer_package
swimmer_package_small

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