First attempt at moth flight

This flight gait was recorded from a live model-predictive control (MPC) simulation, and is presented at about x50 computation time (on my old 2-core laptop).
The task was to maintain altitude while moving forward (linear cost on position). Instead of joint limits, there's an aggressive cost on big angles (cosh-shaped).
Credit for the MPC platform goes to Yuval Tassa - alice.nc.huji.ac.il/~tassa/

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Science & Technology

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• first
• moth