GabrielEGC/psets-drake-underactuated-robotics-6.832x

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GabrielEGC/psets-drake-underactuated-robotics-6.832x

GabrielEGC

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Some homeworks of PSET solved here with code. Solved the homeworks involving drake-distro library for MATLAB

IHMC-Robotics

Work done in IHMC Robotics since Aug 2019

multirobot-formation-control

Controlling a set of differential wheeled robots, sending them only two variables to ALL robots.

Dynamic-Feedback-Lineariz-diff-robot-tracking

A Dynamic Feedback Linearization for a differential wheeled robot for tracking any continous trajectory in plane with asymptotic stability.

review-sim-amber-robot

A review and simulation of "First Steps Toward Underactuated Human-Inspired Bipedal Robotic Walking", paper from AMBER Lab

vhip-humanoids-push-recovery-control

Bachelor Thesis - Stabilization of the Variable-Height Inverted Pendulum based on Input-State Stability and Sliding Mode Control under Unilateral Contact and Input Saturation.

Torque-control-throught-Pos-control

Controlling torque when we have a robot with a closed control with input desired position

ZMP-explicit-LQR

A ZMP approach based on explicit LQR tracking and task space for the walking of a lower-limb rehabilitation exoskeleton