MIT 6.832 Underactuated Robotics, Spring 2009
This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/approximate optimal control, and the influence of mechanical design on control. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines. Created by MIT OpenCourseWare.
Pick a lesson
1: Lecture 1
2: Lecture 2
3: Lecture 3
4: Lecture 4
5: Lecture 5
6: Lecture 6
7: Lecture 7
8: Lecture 8
9: Lecture 9
10: Lecture 10
11: Lecture 11
12: Lecture 12
13: Lecture 13
14: Lecture 14
15: Lecture 15
16: Lecture 16
17: Lecture 17
18: Lecture 18
19: Lecture 19
20: Lecture 20
21: Lecture 21
22: Lecture 22
23: Lecture 23