Torque-limited Simple Pendulum Logo

Table of Contents

  • Introduction
  • Installation Guide
  • Usage Instructions
  • The Physics of a Simple Pendulum
  • Simulator
  • Hardware Setup
  • Trajectory Optimization
    • Trajectory optimization using direct collocation
    • Iterative Linear Quadratic Requlator (iLQR)
    • Direct Optimal Control based on the FDDP algorithm
  • Reinforcement Learning
  • Trajectory-based Controllers
  • Policy-based Controllers
  • Controller Analysis
  • How to Contribute
  • Software Documentation
Torque-limited Simple Pendulum
  • Trajectory Optimization
  • View page source

Trajectory Optimization

  • Trajectory optimization using direct collocation
    • Theory
    • API
    • Dependencies
    • References
  • Iterative Linear Quadratic Requlator (iLQR)
    • Theory
    • API
    • Usage
    • Comments
    • Requirements
    • Notes
    • References
  • Direct Optimal Control based on the FDDP algorithm
    • Theory
    • API
    • Usage
    • Dependencies
    • References
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