My final project for the class 6.832 Underactuated Robotics at MIT, taught by professor Russ Tedrake in the Spring of 2020.
The project is implemented and simulated in C++ using the open-source library Drake.
For more information, please see 'report.pdf' or watch the following youtube video: https://www.youtube.com/watch?v=U9jL_oSgqT4