SUMMARY.md

Table of contents

• Drake Tutorial
• To get started

Introduction

• Drake Concepts
• Drake Multibody
• Drake Simulation
• Drake Notation
• Bazel basics

Things to do in drake

• Hello, Drake!
• Create a URDF/SDF robot
• Visualize data in LCM
• Visualize trajectory
• [WIP] Visualize data
• [WIP] Control Real KUKA arm

Drake Controllers

• PID control of double pendulum
• LQR on Cart Pole
• Inverse Dynamics Control on fully-actuated KUKA arm
• [WIP] Control a underactuated robot using Inverse Dynamics Controller

Drake Optimization

• [WIP] Trajectory Optimization 1 - Direct Transcription
• [WIP] Trajectory Optimization 2 - Direct Collocation
• [WIP] Trajectory Optimization 3 - Shooting method
• [WIP] Optimal Control 1 - Quadratic Programming
• [WIP] Optimal Control 2 - Sequential Quadratic Programming

Q & A

• FAQ
• Use Drake as part of your project

Deprecated

• Create a simple system