UR-Final_Project

Project for Underactuated Robots Course at Sapienza University of Rome

Instructions

# clone
git clone https://github.com/furio1999/UR-Final_Project.git

# push changes
git push
# if it does not work, do this
git push -uf origin main

# update your local folder
git pull

Modeling

Compute_Model.m

MPC

Main_MPC.m

Neural Network

Neural_network.m

MPC warm-start

Main_warm.m

Tracking

Main_Tracking.m

Modeling

• Lagrangian Formulation for 2D quadruped robot
• Developed from scratch

Control

• Model Predictive Controller
• Training of Feedforward Neural Network to generate trajectories from initial state x(0)
• NN-boosted MPC control

Simulation

Draw_robot.m

animation_MPC_new2.mp4

Contributors

• Saverio Borrelli
• Monica De Pucchio
• Fulvio Sanguigni