Airfoil Configuration Optimization with Genetic Algorithms
This article describes the first iteration of a project I did as part of Penn Electric Racing, the University of Pennsylvania’s Formula SAE Electric team. It uses JavaFoil, a panel […]
simulations
Numerically Solving Discrete Systems with Mathematica for Robocode
As a learning project, I’ve been trying to forwards-integrate Robocode physics using Mathematica. Robocode is a programming game where two or more tanks battle in a 2D arena, attempting to hit […]
Key Control Strategies Emerge in Spring Loaded Inverted Pendulum Traversal of Slippery Terrain
Last week I returned from the Dynamic Walking 2017 conference, where I had a poster and five minute talk on some of the numerical trajectory optimization work I’ve been doing […]
Optimizing Trajectories for the Spring Loaded Inverted Pendulum over Slippery Terrain
Previously, I’ve written short introductions to numerical trajectory optimization here and here—if you’re unfamiliar with the basics, I recommend you check those out first. This write up expands upon a section of my […]
Tutorial: Direct Collocation Trajectory Optimization with Matlab
In the previous tutorial, we focused on single shooting trajectory optimization, which involved time-discretizing the control input and simply integrating the dynamics. The desired end state was then added as […]
Tutorial: Single Shooting Trajectory Optimization with Matlab
Numerical methods for trajectory optimization have become increasingly popular for analyzing the motion of bipedal spring-mass walkers, whose complex nonlinear dynamics make analytical solutions often infeasible. When I began looking into trajectory […]
Optimizing Retraction Reflexes Using Reinforcement Learning based on Particle Filtering
As part of my development of a legged helicopter landing gear (more on this later), I started studying ways to minimize landing impact using a combination of leg retraction (active impedance) […]