LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot

My understanding of Russ Tedrake's course on umderacuated robotics, implemented in MuJoCo

Optimal Control and Trajectory Tracking for the Ballbot (Nagarajan et al. 2014)

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

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

For paper: Identification of Differentially Flat Output of Underactuated Dynamic Systems - International Journal of Control(2020). The code is written in MATLAB.

Underactuated Robotics based on Double Pendulum on Cart

External/Internal Convertible Controller for Furuta Pendulum

Modelling of a flexible manipulator using Differential Flatness

Autonomous bicycle trajectory tracking