Acrobot, Cart-Poles, and Quadrotors

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MIT 6.821: Underactuated Robotics

Spring 2024, Lecture 5

OpenAI Gym / Gymnasium

DeepMind Control Suite




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

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Will close submissions at 4:30pm.


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