Python datetimes made easy

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Implementations in Unity of the Ten Minute Physics YouTube channel. Instead of using Unity's built-in physics engine, you will learn how to make your own XPBD based physics engine. This is useful if you want to simulate ropes, cloth, tires, etc. You will also learn how to make fluid simulations and soft body physics.

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Walking controller for humanoid robots based on inverted pendulum tracking

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

Pendulums web client

Linear Inverted Pendulum Model based bipedal walking

A simple markdown editor for static files (Hugo, Nexo, Jekyll, MkDocs, ...)

Reaction wheel inverted pendulum project based on the Arduino Simple FOC library and SimpleFOC shied.

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ROS, ROS2, real-time, control, pendulum

Used to make: https://youtu.be/n7JK4Ht8k8M

Animations of random double pendulums

Reinforcement learning Algorithms such as SARSA, Q learning, Actor-Critic Policy Gradient and Value Function Approximation were applied to stabilize an inverted pendulum system and achieve optimal control. So essentially, the concept of Reinforcement Learning Controllers has been established. The Reinforcement Learning Controllers have been compared on the basis of performance and efficiency and they are separately compared with the classical Linear Quadratic Regulator Controller. Each of the RL controller have been integrated with a Swing up controller. A virtual switch toggles between the Swing up controller and the RL controller automatically, based on the value of the angular deviation theta with respect to the vertical plane. My research paper and my undergraduate thesis have been uploaded for reference. All the codes have also been uploaded.

Linux Sleep Obfuscation

Track time spent coding in Neovim

The reimplementation of Model Predictive Path Integral (MPPI) from the paper "Information Theoretic MPC for Model-Based Reinforcement Learning" (Williams et al., 2017) for the pendulum OpenAI Gym environment

Pendulum balls

This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Control (MPC) foot placement planner and (2) a gait controller which takes the foot placement solution as an input. This controller enables improved stability for walking on a variety of sloped and textured terrains. The controller is implemented on the Agility Robotics Cassie Robot.

Dual Axis Reaction Wheel Inverted Pendulum

An inverted pendulum that jumps and balances. It's a simplified version of the Cubli that you can build yourself.

Double Pendulum Playground

Simulations and experiments related to my inverted pendulum robot hobby project

Double Pendulum visualised with fetching system information in Python.

一阶和二阶倒立摆分析和控制系统设计

LQR, MPC and DRL approaches to control the Furuta pendulum.

LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot