DMOC method for a simple pendulum swing-up control
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Updated
Mar 18, 2017 - MATLAB
DMOC method for a simple pendulum swing-up control
OpenRAVE plugin for GPMP2
Trajectory jerk optimization with boundary constraints and state inequality constraints using directory methods.
Estimation of minimal inertial parameters of a space robot for motion planning and control
Final project for 6.832 Underactuated Robotics
Spacecraft trajectory optimization using differential evolution
The Dynamic Whole-body Locomotion library (DWL)
High-performance simulation of quadrotors and other multicopters
Optimal Control and Trajectory Tracking for the Ballbot (Nagarajan et al. 2014)
Modified OpenAI gym environments for continuous control of underactuated systems
Combined Learning from Demonstration and Motion Planning
Useful convex optimization applications and algorithms.
Toy robotic projects from winter holiday 2018-2019 and spring 2019 at Boston University
Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.
Visualize Legged Robot Trajectories with Unreal Engine
Code for "Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation", SIGGRAPH 2019
This optimization project aims to find the best trajectory of a 2-link robotic arm to achieve minimum joint torque over time when lifting objects up from ground
Indirect optimization for energy-optimal Lyapunov-to-Lyapunov transfer using heteroclinic connection as initial guess.
An optimized, easy-to-use functional style motion planning library written in C++. Developed in lab with Prof. Tao Gao at UCLA.
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