Drake Golf Model Repository
Drake Golf Model Repository
Golf swing models and simulations implemented using Drake, an open-source toolbox from MIT's Robot Locomotion Group. Focuses on underactuated systems, manipulation, and control-affine dynamics for golf biomechanics analysis.
Overview
This repository contains golf swing models implemented in Drake, which provides a suite of tools for analyzing the dynamics of robots and building control systems. Drake is designed to provide a flexible and efficient platform for robotics research and development, with capabilities for modeling, simulation, trajectory optimization, and control design. Highly relevant for implementing control-affine systems and analyzing underactuated systems like the golf swing.
Features
Control-Affine Systems: Native support for control-affine dynamics
Underactuated Analysis: Tools for analyzing underactuated systems
Trajectory Optimization: Optimization tools for swing planning
Simulation: High-fidelity physics simulation
Visualization: Integrated visualization tools
Repository Access
The Drake golf model implementations and simulation scripts are hosted in the UpstreamDrift repository:
View on GitHub →(opens in a new tab)
Clone with Git:
git clone https://github.com/D-sorganization/UpstreamDrift.git
Related Resources
This repository is closely related to the Drake Models page, which includes links to Russ Tedrake's courses (Underactuated Robotics and Robotic Manipulation), installation guides, and comprehensive support resources. Drake is particularly well-suited for control-affine system analysis and underactuated system control, making it ideal for golf swing biomechanics research. See the UpstreamDrift repository(opens in a new tab) for simulation scripts and example setups.