Furuta Pendulum
In this repository you will find everything you need to build and train a rotary inverted pendulum (also known as a furuta pendulum). Watch the build video here.
![](https://github.com/Armandpl/furuta/raw/master/assets/pendulum.jpg)
Table of Content
Motivations and Goals
- There are many (hundreds!) videos of rotary inverted pendulum on the internet but we couldn't find good documentation on how to build one and how to control one. This projects aims to make building a furuta pendulum affordable and reproducible.
- We wanted to learn about RL. Balancing a pendulum is kind of the "hello world" of the field, it seemed like a good starting point.
Getting Started
- Get the supplies and follow the hardware instructions
- Follow the software instructions
- Deploy pre-trained models, run experiments and train the robot
If you have any question feel free to open an issue or DM me @armand_dpl.
Usage
- Plug-in the robot
- Run
sudo dmesg | grep tty
in terminal to find which port is used for the device
- run
python tests/interactive_robot_self_test.py
MLOps
During this project we leveraged Weights and Biases MLOps tools to make our life easier. You can find our experiments, pre-trained models and reports on our dashboard. You can also read more about Training Reproducible Robots with W&B here.
Credits
To make this robot work we built on top of existing work!
Authors
Armand du Parc Locmaria
Pierre Fabre