Robotic Project

Here, we will focus on controlling a 2DoF robot single leg.

overview of the entire project

The project can be separated into several parts:

1. Finding a mathematical model for the leg in here
2. Studying about different control methods used in literature in here
3. Perform system identification to get a numerical model of the system in here
4. Choose a controller and test it on the mathematical model in Simulink in here
5. Test the controller with the ADAMS model in here
6. Test the controller on the leg in here