Project - Inertial Sensing in Snake Robots
Tuesday, May 11, 2010
The goal of this project was to use the internal feedback of the snake robots in Howie Choset’s Biorobotics Lab to start addressing the problem of estimating the robot’s motion and environment.  In
 
Assignment #4
Monday, April 5, 2010
State estimation, Kalman filtering quaternions and 3-D dynamics.
 
Observe the noisy markers on an ‘alien artifact’ tumbling freely in space.  Use low-pass filtering and Kalman filtering to estimate
 
Assignment #3
Monday, March 15, 2010
LQR and Dynamic Planning.
 
Design a regulator to make a two-link inverted pendulum stand on end.  Use dynamic programming to have a one-link pendulum perform a ‘swing up’.
 
Code:
 
 
Assignment #2
Tuesday, February 16, 2010
Calculated
 
US: 1.099868
FS: 0.894989
 
S_OFFSET: -0.102421
E_OFFSET: 0.098853
 
Assignment #1 - Part 2
Sunday, January 24, 2010
Simulate a 2-link manipulator and make it do a bunch of stuff.
 
 
1.    Angle Controller
 
1a)    In order to get the arm to move to commanded angles, a PD controller was
 
Kinematics Dynamics and Controls - Spring 2010