Acrobot, Cart-Poles, and Quadrotors

Follow live at https://slides.com/d/5jWKjKE/live

(or later at https://slides.com/russtedrake/spring24-lec05)

MIT 6.821: Underactuated Robotics

Spring 2024, Lecture 5

OpenAI Gym / Gymnasium

DeepMind Control Suite

Pendulum

Acrobot

Cart-Pole

Model underactuated systems

  • Acrobots, Cart-Poles, Quadrotors
  • Pendubot
  • Furuta Pendulum
  • Reaction-Wheel Pendulum
  • Convey-crane system
  • Ball-and-beam
  • Segway/ballbot
  • ...

Check yourself / attendance check

Open these slides: https://slides.com/d/5jWKjKE/live

and click here:

 

 

or just use the QR code:

Will close submissions at 4:30pm.

"Ballbot"

from Hertig et al . Unified state estimation for a ballbot. ICRA, 2013

Lecture 5: Acrobots, Cart-Poles, and Quadrotors

By russtedrake

Lecture 5: Acrobots, Cart-Poles, and Quadrotors

MIT Underactuated Robotics Spring 2024 http://underactuated.csail.mit.edu

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