If you have an example from your own work that you would like to showcase, please edit
drake/doc/gallery.rst directly and submit a pull request!
The Rimless Wheel¶
The simplest and perhaps the most elegant example of the principles of passive dynamic walking.
Rimless Wheel video
Source Code: drake/examples/RimlessWheel
The Compass Gait¶
One of the simplest bipedal walking systems, it walks passively down a ramp or can be actuated by a torque at the hip or impulse at the toe to walk on more general terrain.
Compass Gait video
Source Code: drake/examples/CompassGait
The Planar Monopod Hopper¶
A simple model of the famous hopping robots from MIT’s Leg Laboratory.
Planar Monopod Hopper video
Source Code: drake/examples/PlanarMonopodHopper
LittleDog Gait Optimization¶
Source Code: drake/examples/LittleDog (set EXAMPLES_LITTLEDOG to ON in drake-distro cmake options to install it)
Unmanned Aerial Vehicles¶
Quadrotor Forest Trajectory Optimization¶
A simple demonstration of collision-free dynamic trajectory optimization.
Source Code: drake/examples/Quadrotor/runDircolWObs.m
Quadrotor Online Obstacle Avoidance¶
A demonstration of using funnel libraries to dynamically navigate a simulated forest.
Source Code: drake/examples/Quadrotor/runOnlinePlanning.m
A simulation of a dynamical car model based on the Toyota Prius body, simulated in the Drake toolkit.
Source Code: drake/automotive
Canonical Underactuated Systems¶
Drake’s rigid-body manipulator classes support frictional contact, aerodynamics, and a rich set of forces, sensors, and kinematic constraints. This video just shows a few quick examples; the source code can be found in the examples and test directories of the Drake distribution.
20 falling capsules. It’s not fast to simulate, but it works.