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underactuated-systems

Code for simulating

  • a double pendulum
  • a cartpole

in matlab and visualizing the result.

Double pendulum

Load the workspace in doublependulum.mat and run the script doublependulum.m, which creates a csv file with the simuulation result. Run the script simviz.py to visualize the data.

Cartpole

Edit the script cartpole.m to choose which system (uncontrolled, controlled with handpicked gains, or controlled with LQR gains) to simulate.

Uncontrolled dynamics:

With LQR controller:

Reference

The pendulum dynamics are based off the derivation in the lecture notes:

Russ Tedrake. Underactuated Robotics: Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course Notes for MIT 6.832). Downloaded on 22 Sept. 2024 from https://underactuated.csail.mit.edu/.