This repo contains a collection of coding examples for the course Underactuated Robots
Contains two simple examples in which the floating base dynamics is computed using MATLAB Symbolic Math Toolbox. It also shows the derivation of the Centroidal Dynamics and the CMM for a 2-link robot and the constrained reduced model for the cart-pendulum system.
These are Live Scripts that require MATLAB and the Symbolic Math Toolbox.
This is a dynamic simulation of a 2R manipulator in a vertical position, it uses pybullet and its GUI for the simulation and pinocchio to compute the kinematic and dynamics quantities relevant for control.
It requires to install
- pinocchio
- pybullet
which can be installed (on linux) via
pip install pybullet pin
The example can be executed by running (from the main repo directory):
python pybullet-pinocchio-2R
Additional examples on the use of pinocchio can be found in the Pinocchio documentation, in this repository containing material for the Memmo Winter-school and in the official cheatsheet.
Example of multiple shooting trajectory optimization for the balancing of a planar single rigid body using contact forces.
- MATLAB
- CasADi (MATLAB interface)
The CasADi directory must be placed somewhere in the MATLAB path or can be imported directly in the code. Here it is assumed that a casadi-matlab directory is present in the parent directory.
Simply run the srb_to.m script from MATLAB.