3-DoF Underactuated Stabilization

Experimentation with linear quadratic regulator (LQR) control to stabilize a physical and simulated 3 DoF underactuated system, as well as manipulation of a 2 DoF simulated system. This project was part of ME 139, Robotic Locomotion, which placed heavy emphasis on classical methods including deriving full Lagrangian Equation of Motion and simulation. I focused on the dynamics, simulation, and actuator selection, while my partners focused on the hardware design. Please see the project report for derivations and specifications!