Furuta Pendulum Simulation

October 2023 - Present

Interactive 3D model of the Furuta Pendulum

Project Overview

The Furuta Pendulum Simulation project involves building a model of a Furuta pendulum for use in Gazebo and Drake. This complex nonlinear system serves as an excellent testbed for advanced control algorithms and robotics research.

Technical Details

The simulation is controlled with C++ scripts and utilizes ROS 2 for communication. Key features include:

• Swing-up controller implementation
• Energy-minimizing controller for pendulum stabilization
• Integration with Gazebo for realistic physics simulation
• Use of Drake for additional dynamic system analysis

Future Developments

Planned future implementations include:

• Reinforcement Learning (RL) control of the pendulum
• Extension to double pendulum control scenarios

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