# Trajectory Optimization: inverted double-pendulum on a cart via MPPI and DDP ###### tags: `ROBOTICS`, `motion planning` ![](https://hackmd.io/_uploads/r1712-qvn.png) ![](https://hackmd.io/_uploads/ryDy2Z9D2.png) ![](https://hackmd.io/_uploads/rkjyh-cvn.png) ![](https://hackmd.io/_uploads/rJ1xhWcwh.png) ![](https://hackmd.io/_uploads/Hymg3bcwn.png) ## Code Source * [Gitlab](https://github.com/yu-ju-chiu/ROB498_Final)