Page Comparison

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• Created Simple inverted pendulum model controlled with an non-limited torque actuator.
• Verified the model and dynamics simulation method to be used with three separate simulations of the pendulum swinging freely from rest:
  • Ran forward simulation in OpenSim
  • Ran forward simulation in Matlab using hand-derived equations of motion of system
  • Ran forward simulation in Matlab using State information from OpenSim, updating at each timestep
• Implemented a PID controller to balance the torque-actuated pendulum
  • Ran forward simulation in Matlab, communicating from OpenSim at each tilmestep
  • Output motion file of the data in order to run in OpenSim
  • Verified output motion by running forward dynamics simulation in opens using control file generated in MatLab
    Video of PID-controlled pendulum in OpenSim
    

    Multimedia
    name PID_Vid_000_1 (Converted).avimov

    
    
    
    
    
    
• Implemented MPC controller in Matlab successfully controlling torque-actuated pendulum using hand-derived State equations
• Currently Working on implementing MPC controller in Matlab that can use OpenSim State information...

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