Robotics&Physics Engine

A slight taste of automation

Inspired by Reinforcement learning, trying some cool robotics examples with open-source physic engine {MoJuCu} or {Unity ML toolkit}.

Matlab Simulation could be another mainstream choice. Here is a example using Unity, ROS & Matlab for pick and drop robot hand {Link}.

Here is a youtube example training a cube to reach a ball. {YouTube}, which includes Unity ML-Agent Toolkit, tensorboard visualization, mass training, and heuristic control testing (manual control). In the series, car-driving examples mentioned a technique Imitation Learning {Medium Link} that relies on expert instruction to assist the Agent

Currently, as a beginner, I just choose the most prevalent implementations.

3 min physics

javascripts
webGUI
Got this cool guy in youtube recommendation.
Gonna take a good look later on.
github_pagehttps://matthias-research.github.io/pages/tenMinutePhysics/index.html

Lagrangian & Hamiltonian Mechanics

Thanks to Congyi. I think these idea of constant momentum may fits the fact rock fragmentations or secondary rockfalls. Also Lagrangian mechanics seems naturally establishes a second-order partial derivative equation. Currently reading this post {Link}.

Euler-Lagranigna Equation:

\(\delta S = \int_{t_1}^{t_2} \left[ \frac{\partial L}{\partial q} \delta q + \frac{\partial L}{\partial \dot{q}} \delta \dot{q} \right] dt\)

\(\delta S = \int_{t_1}^{t_2} \left[ \frac{\partial L}{\partial q} – \frac{d}{dt} \left( \frac{\partial L}{\partial \dot{q}} \right) \right] \delta q \, dt.\)

Hamiltonian, swap \(\dot{q}\) with independent momentum \(\dot{p}\)

Example: particle in central force field