software . 2022

Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics

Felix Wiebe; Jonathan Babel; Shivesh Kumar; Shubham Vyas; Daniel Harnack; Melya Boukheddimi; Mihaela Popescu; Frank Kirchner;
Open Access English
  • Published: 27 Apr 2022
  • Publisher: Zenodo
Abstract
There are many, wildly different approaches to robotic control. Underactuated robots are systems for which it is not possible to dictate arbitrary accelerations to all joints. Hence, a controller cannot be used to override the system dynamics and force the system on a desired trajectory as it often is done in classical control techniques. A torque-limited pendulum is arguably the simplest underactuated robotic system and thus is a suitable system to study, test and benchmark different controllers. This repository describes the hardware (Computer-aided design (CAD) models, Bill Of Materials (BOM), etc.) required to build a physical pendulum system and provides the software (Unified Robot Description Format (URDF) models, simulation and controller) to control it. It provides a setup for studying established and novel control methods, and targets students and researchers interested in studying underactuation.
Persistent Identifiers
Subjects
free text keywords: Robotics, Underactuated Robotics, Control, Pendulum
Communities
  • Rural Digital Europe
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Open Access
ZENODO
Software . 2022
Providers: ZENODO
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