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Widget Connector width 560 url https://www.youtube.com/watch?v=Y2hv1kUFEGQERHzK1lR4ZY&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=A0rsOnSEJCEuf82t_ul1CM&feature=youtu.be height 315
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