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