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 OpenSim using control file generated in MatLab
    Video of PID-controlled pendulum in OpenSim
    multimedia
    
    PID Pendulum

    View file
    name PID_Vid_00sp_1_10_d_6_5_17 (Converted).mov height 250

    
    
    
    
• Implemented MPC controller in Matlab successfully controlling torque-actuated pendulum using hand-derived State equationsCurrently working
• on implementing Implemented MPC controller in Matlab that can use OpenSim State information../OpenSim that uses state information from OpenSim "plant" model. Control signals are generated from this state information using Matlab and the system is integrated forward in time using approximated system dynamics in Matlab. System dynamics equations generated using finite differences.
  Software Architecture:
  
  
  
  Video of MPC-controlled pendulum in OpenSim
  
  
  
  

• Currently working on making software architecture more robust to begin testing perturbations/altering parameters as described above in Description.

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