d-practical-exercises/

Documentation in this subdirectory

• 1) Move your body (aka direct geometry)
  • Objective
  • 1.0) Tips
  • 1.1) Creating and displaying the robot
  • 1.2) Simple pick and place
• 2) Grasp an object (aka inverse Geometry)
  • Objectives
  • 2.0) Technical prerequisites
  • 2.1) Position the end effector
  • 2.2) Approaching the redundancy (optionnal)
  • 2.3) Placing the end-effector
  • 2.4) Working with a mobile robot (optionnal)
  • 2.5) Configuration of a parallel robot
• 3) Drag and Drop (aka Inverse kinematics)
  • Objectives
  • 3.0) Technical prerequisites
  • 3.1) Position the end effector
  • 3.2) Position the basis on a line
• 4) Snap your fingers (aka direct and inverse dynamics)
  • Objectives
  • 4.0) Technical prerequisites
  • 4.1. Direct dynamics
  • 4.2) PD and computed torques
  • 4.3) Collision checking
• 5) Look ahead (aka motion planning)
  • Objective
  • 5.0) prerequisites
  • 5.1) Testing collision
  • 5.2) Steering method
  • 5.3) Nearest neighbors
  • 5.2) Probabilistic roadmap
  • 5.4) Searching a path in the roadmap
  • 5.4) Shortcut
• 6) Take a walk (aka optimal control)
  • Objective
  • 6.0) prerequesites
  • 6.1) defining input
  • 6.2) computing reference ZMP
  • 6.3) reference trajectory of the center of mass
  • 6.4) reference trajectories of the feet
  • 6.5) generate walk motion
• 7) Learning to fly (aka policy learning)
  • Objective
  • 7.0) prerequesites
  • 7.1) Optimizing an optimal trajectory
  • 7.2) Q-table resolution for discrete pendulum
  • 7.3) Q-table using a linear net
  • 7.4) Actor-critic network
  • 7.5) Training the network with the OCP solver
• Practical Exercises