External/Internal Convertible Controller for Furuta Pendulum
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Updated
Jan 11, 2019 - C++
External/Internal Convertible Controller for Furuta Pendulum
Modelling of a flexible manipulator using Differential Flatness
Autonomous bicycle trajectory tracking
Underactuated Robotics based on Double Pendulum on Cart
For paper: Identification of Differentially Flat Output of Underactuated Dynamic Systems - International Journal of Control(2020). The code is written in MATLAB.
Finding a stable limit cycle for a passive kneed walker using trajectory optimization.
Repository of implementation of few algorithms for Under-actuated Systems in Robotics and solutions to some interesting problems
Journey thorugh Underactuated systems MIT 6.832
This project was done as the final project of my Robust Control university course.
Python implementations of Optimal Control and Optimization algorithms for simulated underactuated systems and walking robots
Optimal Control and Trajectory Tracking for the Ballbot (Nagarajan et al. 2014)
My understanding of Russ Tedrake's course on umderacuated robotics, implemented in MuJoCo
LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot
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