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Description
6.832 Underactuated Robotics (Spring 2009, MIT OCW). Instructor: Professor Russell Tedrake.
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. (from ocw.mit.edu)
Course Curriculum
- Lecture 01 – Introduction Unlimited
- Lecture 02 – The Simple Pendulum Unlimited
- Lecture 03 – Optimal Control of the Double Integrator Unlimited
- Lecture 04 – Optimal Control of the Double Integrator (cont.) Unlimited
- Lecture 05 – Numerical Optimal Control (Dynamic Programming) Unlimited
- Lecture 06 – Acrobot and Cart-pole Unlimited
- Lecture 07 – Swing-up Control of Acrobot and Cart-pole Systems Unlimited
- Lecture 08 – Dynamic Programming (DP) and Policy Search Unlimited
- Lecture 09 – Trajectory Optimization Unlimited
- Lecture 10 – Trajectory Stabilization and Iterative Linear Quadratic Regulator Unlimited
- Lecture 11 – Walking Unlimited
- Lecture 12 – Walking (cont.) Unlimited
- Lecture 13 – Running Unlimited
- Lecture 14 – Feasible Motion Planning Unlimited
- Lecture 15 – Global Policies from Local Policies Unlimited
- Lecture 16 – Introducing Stochastic Optimal Control Unlimited
- Lecture 17 – Stochastic Gradient Descent Unlimited
- Lecture 18 – Stochastic Gradient Descent 2 Unlimited
- Lecture 19 – Temporal Difference Learning Unlimited
- Lecture 20 – Temporal Difference Learning with Function Approximation Unlimited
- Lecture 21 – Policy Improvement Unlimited
- Lecture 22 – Actor-critic Methods Unlimited
- Lecture 23 – Case Studies in Computational Underactuated Control Unlimited
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