Drake Tutorial
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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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[WIP] Control Real KUKA arm
Data is transmitted through LCM in Drake. To control a real robot, control signal from Drake should be translated from LCM to robot language, which could be EtherCat, Serial, PWM signals, etc. The translator is the driver we need for each robot we want to drive.
For example, if we want to drive a KUKA arm, we would need to translate LCM to KUKA Robot Language (KRL).
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Things to do in drake - Previous
[WIP] Visualize data
Next - Drake Controllers
PID control of double pendulum
Last modified 2yr ago
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