A maintained version of this code is available online at: https://github.com/pwensing/RPNA A pre-print of the paper introducing this algorithm is available here: https://arxiv.org/abs/1711.03896

To reproduce the examples in the accompanying paper, run the following at the MATLAB command line RPNA_Examples

Open RPNA_Examples to change the system (PUMA/SCARA/Cheetah), fixed vs. floating-base settings, and toggle the consideration of motor rotor inertias.