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.

Drake is a robotics C++ software maintained by the Robot Locomotion Group from MIT and Toyota Research Institute. 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 https://drake.guzhaoyuan.com/.

To contribute, contact the author github@guzhaoyuan.

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

Drake started to release monthly in 2020 and the development moves fast. This tutorial is based on release v0.20.0. I am slowly updating the tutorial to v1.0.0, which was released in March 2022.

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

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Last updated 1 year ago

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