Where to start
Study the model and its parameters before interpreting the behavior plots.
Use it in your project
Vary one model parameter and compare state trajectories under the same initial conditions.
Scope and limitations
A simple teaching system, not a ready-to-deploy controller for a multi-joint robot.
Follow a related roadmap
Learn robot mathematics and control through experiments · Intermediate →
Read: Study the model and its parameters before interpreting the behavior plots.
Use a tractable dynamics model to explain measured behavior before adding more joints or a learned controller.
Produce: Compare a reference and measured state under two controller settings and the same start state.
Study locomotion and humanoid control · Beginner →
Read: Study the model and its parameters before interpreting the behavior plots.
Use a tractable dynamics model to explain measured behavior before adding more joints or a learned controller.
Produce: Identify state, control inputs and model parameters in a simple dynamics example before whole-body experiments.
Design an actuator and power integration project · Intermediate →
Read: Study the model and its parameters before interpreting the behavior plots.
Use a tractable dynamics model to explain measured behavior before adding more joints or a learned controller.
Produce: Use a model or supervised single-axis log to compare command direction, feedback and the expected response.