Finding a stable limit cycle for a passive kneed walker using trajectory optimization.

https://colab.research.google.com/drive/1U2LBpzQRfKAPlFuFmJVfeQwA3fHw0SVE?usp=sharing

This implementation makes heavy use of pydrake. Everything's set up in a single google colab notebook. A write-up is also included in there. Enjoy.