- Derive the dynamic equations via getting the Lagrangian.
- Get
$\textbf{M(q)}\ddot{\textbf{q}} + \textbf{B}=\boldsymbol{\tau}$ (treat Coriolis and gravitational force as a lump$\textbf{B}$ ). - Learning how to use
$\texttt{sympy}$ for auto differentiation. - Applied it on a projectile motion and double pendulum.
- Observe the dynamics via integration (RK4 or Euler forward).
- Learn hybrid system and how to integrate it with
$\texttt{FSM}$ . - Applied it on a bouncing ball
- Observe the dynamics via integration (RK4 or Euler forward).
- Learn hybrid system and how to integrate it with
$\texttt{FSM}$ . - Applied it on a passive hopper.
- Observe the dynamics via integration (RK4 or Euler forward).