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Introduction

Drake Multibody

Drake Simulation

Things to do in 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

Use Drake as part of your project

Deprecated

Create a simple system

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[WIP] Optimal Control 2 - Sequential Quadratic Programming

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Drake Optimization - Previous

[WIP] Optimal Control 1 - Quadratic Programming

Last modified 3yr ago

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