Drake Tutorial
  • Drake Tutorial
  • To get started
  • Introduction
    • Drake Concepts
    • Drake Multibody
    • Drake Simulation
    • Drake Notation
    • Bazel basics
  • Things to do in drake
    • Hello, Drake!
    • Create a URDF/SDF robot
    • Visualize data in LCM
    • Visualize trajectory
    • [WIP] Visualize data
    • [WIP] Control Real KUKA arm
  • Drake Controllers
    • PID control of double pendulum
    • LQR on Cart Pole
    • Inverse Dynamics Control on fully-actuated KUKA arm
    • [WIP] Control a underactuated robot using Inverse Dynamics Controller
  • Drake Optimization
    • [WIP] Trajectory Optimization 1 - Direct Transcription
    • [WIP] Trajectory Optimization 2 - Direct Collocation
    • [WIP] Trajectory Optimization 3 - Shooting method
    • [WIP] Optimal Control 1 - Quadratic Programming
    • [WIP] Optimal Control 2 - Sequential Quadratic Programming
  • Q & A
    • FAQ
    • Use Drake as part of your project
  • Deprecated
    • Create a simple system
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Drake Tutorial

Learning Drake from the perspective of a robotics beginner.

NextTo get started

Last updated 1 year ago

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is a robotics C++ software maintained by the from MIT and . It is a powerful tool for robotics developers but is difficult for beginners. Here, I share my learning experiences and my personal understanding of Drake. Hopefully, Drake beginners find it useful.

This document is supported by GitBook. The official website is .

To contribute, contact the author .

If you have any questions, please , to help improve the document.

Drake started to release monthly in 2020 and the development moves fast. This tutorial is based on release . I am slowly updating the tutorial to , which was released in March 2022.

The Drake developer team has put up an official tutorial using its Python version, . You can find it from > Resources > Tutorials.

Drake
Robot Locomotion Group
Toyota Research Institute
https://drake.guzhaoyuan.com/
github@guzhaoyuan
file an issue
v0.20.0
v1.0.0
Drake tutorials on Deepnotes
drake.mit.edu