Examples of control relevant to PackBionics projects
$ pip install gym
$ python3 -m pip install -U pygame --user
An unactuated pendulum is attached to a cart sliding on a rail, swing the pendulum to the top by applying forces to the cart
Three ways to achieve the task is available:
- Manual control: You move the cart to swing the pole up
- Energy shaping: Use an "energy function" to guarantee convergence to fixed point
- Trajectory Optimization: Run optimization to find best trajectory wrt cost
Scripts for ODrive motor calibration, plus position/velocity/torque control
Explore trajectory optimization for generating limit cycles in reduced-order models, with applications towards gait generation in prosthetic legs.
Walking reduced to a linear inverted pendulum. Direct transciption with hybrid dynamics.