Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics
In Journal of Open Source Software, The Open Journal, volume 7, number 74, pages 1-7, Jun/2022.
There are many, wildly different approaches to robotic control. Underactuated robots are
systems for which it is not possible to dictate arbitrary accelerations to all joints. Hence, a
controller cannot be used to override the system dynamics and force the system on a desired
trajectory as it often is done in classical control techniques. A torque-limited pendulum is
arguably the simplest underactuated robotic system and thus is a suitable system to study,
test, and benchmark different controllers.
This repository describes the hardware (Computer-aided design (CAD) models, Bill Of Materials
(BOM), etc.) required to build a physical pendulum system and provides the software (Unified
Robot Description Format (URDF) models, simulation, and controller) to control it. It provides
a setup for studying established and novel control methods, and targets students and researchers
interested in studying underactuation.