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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 OpenSim using control file generated in MatLab
Video of PID-controlled pendulum in OpenSim
Widget Connector width 560 url https://www.youtube.com/watch?v=ERHzK1lR4ZY&feature=youtu.be height 315 - Implemented MPC controller in Matlab successfully controlling torque-actuated pendulum using hand-derived State equations
- Implemented MPC in Matlab/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:View file name Matlab_OpenSim_Arch.pdf height 250
Video of MPC-controlled pendulum in OpenSim Widget Connector width 560 url https://www.youtube.com/watch?v=uf82t_ul1CM&feature=youtu.be height 315
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