Acrobot, Cart-Poles, and Quadrotors

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MIT 6.821: Underactuated Robotics

Spring 2024, Lecture 5

OpenAI Gym / Gymnasium

DeepMind Control Suite

Pendulum

Acrobot

Cart-Pole

Model underactuated systems

• Acrobots, Cart-Poles, Quadrotors
• Pendubot
• Furuta Pendulum
• Reaction-Wheel Pendulum
• Convey-crane system
• Ball-and-beam
• Segway/ballbot
• ...

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Will close submissions at 4:30pm.

"Ballbot"

from Hertig et al . Unified state estimation for a ballbot. ICRA, 2013