Animation of a simple cart-pole swing up
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- Опубліковано 5 вер 2024
- Simple animation of a cart-pole swing-up. This is a play-back of a minimum force-squared optimal trajectory.
Source code for trajectory optimization of the cart-pole:
github.com/Mat...
Trajectory optimization tutorial:
• Introduction to Trajec...
Animation in Matlab:
github.com/Mat...
Awesome video. I am trying to do some trajectory optimization in Python. Do you know if Scipy has trapezoidal or Hermite Simpson? Thank you
Sorry - I don't have much experience using Scipy for trajectory optimization! Let me know if you find a good library.
You're welcome to check out the Python package I've been working on, Pycollo. The GitHub is here: github.com/brocksam/pycollo. It's a work in progress but it can quickly and efficiently solve this problem among many others (in fact, this problem is implemented as an example)! I'm working on making it conda-installable right now.
@@MatthewKelly2 No problem!
@@sambrothie Wow thank you this is very neat as well. Currently I am also trying to solve it a longer way so I can better learn about how this all works. Your package is a great tool for me to check. Do you happen to know what the equality constraints (final/initial state) would look like if I were to use scipy minimize?
Hey Matt, do you happen to know what the results were for minimum force? I solved this using Python and wanted to compare. Thank you.
It's fancy. How can I do this? I failed this with a linearized LQR controller. I want to know what I have to study to do this. I hope this reaches you.
This animation is playing back the solution to a trajectory optimization problem. If you follow the "source code" link in the description it will bring you to OptimTraj, a trajectory optimization library that I wrote which includes this problem as an example. There is also a link to a tutorial that explains some of the concepts behind trajectory optimization. You can definitely make a LQR controller stabilize this sort of trajectory. The trick is to linearize around the trajectory, not the final solution. Check out Russ Tedrake's Underactuated Robotics class at MIT, where he discusses this topic in depth: underactuated.mit.edu/lqr.html#example2
@@MatthewKelly2 Thank you much for your information!
@@MatthewKelly2 Thank you so much again. Until now I didn't know what I have to study. Thank you very much for introducing about this field.