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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On this page
  • Why should I use Drake?
  • I know ROS well, do I need to try Drake at all?
  • Matlab Coder and Drake, which is better?

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  1. Q & A

FAQ

Previous[WIP] Optimal Control 2 - Sequential Quadratic ProgrammingNextUse Drake as part of your project

Last updated 4 years ago

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Why should I use Drake?

If you are a robotics control person, drake is for you. Drake has a dedicated team working on multibody dynamics, planning, and control. Drake has a whole bunch of tools that help ease the development of robot control.

I know ROS well, do I need to try Drake at all?

Drake has a software stack similar to ROS, but it's more professional. It could compute planning based on optimization, it has a controller that handles robot dynamics rather than just PID.

So if you really dig deep into robotics and use advanced planning and control, Drake is probably a better tool.

and Drake, which is better?

Drake tries to incorporate optimization and contact rich simulation which is not seen on the market.

Matlab Coder is more like generate code for running on an embedded system.

If you do need to use optimization or contact is happening a lot in your model, you should consider using Drake. Drake is free.

Matlab Coder