Drake Models
Robotics and control system models implemented in Drake, focusing on underactuated systems, manipulation, and control-affine dynamics. Drake provides tools for modeling, simulation, and control of complex robotic systems.
Available Models
Underactuated System Models
Models of underactuated systems relevant to biomechanics, including pendulums and other systems where the number of actuators is less than the number of degrees of freedom.
Manipulation Models
Models for analyzing manipulation tasks, including grasp planning, contact modeling, and force/torque analysis in constrained systems.
Control-Affine System Models
Implementation of control-affine dynamics in Drake, including drift-input decomposition and analysis tools for systems with the form αΊ = f(x) + g(x)u.
Learning Resources
Underactuated Robotics - YouTube Playlist(opens in a new tab)
MIT course by Professor Russ Tedrake on control of underactuated systems. Explores how to exploit natural dynamics rather than cancel them out, highly relevant to biomechanical systems like the golf swing.
Underactuated Robotics - Course Notes(opens in a new tab)
Comprehensive course notes and textbook for Underactuated Robotics, covering theory, examples, and applications relevant to Drake modeling.
Robotic Manipulation - YouTube Playlist(opens in a new tab)
MIT course by Russ Tedrake on robotic manipulation, covering grasp planning, contact modeling, and manipulation strategies. Relevant for understanding how forces and torques interact in complex systems.
Robotic Manipulation - Course Website(opens in a new tab)
Course website with notes, examples, and additional resources for robotic manipulation using Drake.
Documentation & Support
Drake C++ API Documentation(opens in a new tab)
Complete C++ API reference documentation for Drake.
Drake Python API Documentation(opens in a new tab)
Complete Python API reference documentation for Drake.
Drake Tutorials(opens in a new tab)
Step-by-step tutorials covering various aspects of Drake, from basic usage to advanced topics.
Drake Discussions(opens in a new tab)
Community discussions, Q&A, and support forums for Drake users.