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  1. 1 | Lecture 1 MIT 6.832 Underactuated Robotics, Spring 2009 01:14:12
  2. 2 | Lecture 2 MIT 6.832 Underactuated Robotics, Spring 2009 01:09:00
  3. 3 | Lecture 3 MIT 6.832 Underactuated Robotics, Spring 2009 01:16:43
  4. 4 | Lecture 4 MIT 6.832 Underactuated Robotics, Spring 2009 01:24:53
  5. 5 | Lecture 5 MIT 6.832 Underactuated Robotics, Spring 2009 01:12:43
  6. 6 | Lecture 6 MIT 6.832 Underactuated Robotics, Spring 2009 01:20:10
  7. 7 | Lecture 7 MIT 6.832 Underactuated Robotics, Spring 2009 01:05:25
  8. 8 | Lecture 8 MIT 6.832 Underactuated Robotics, Spring 2009 01:14:01
  9. 9 | Lecture 9 MIT 6.832 Underactuated Robotics, Spring 2009 01:09:06
  10. 10 | Lecture 10 MIT 6.832 Underactuated Robotics, Spring 2009 01:19:51
  11. 11 | Lecture 11 MIT 6.832 Underactuated Robotics, Spring 2009 01:15:51
  12. 12 | Lecture 12 MIT 6.832 Underactuated Robotics, Spring 2009 01:11:31
  13. 13 | Lecture 13 MIT 6.832 Underactuated Robotics, Spring 2009 00:57:33
  14. 14 | Lecture 14 MIT 6.832 Underactuated Robotics, Spring 2009 01:13:55
  15. 15 | Lecture 15 MIT 6.832 Underactuated Robotics, Spring 2009 01:18:28
  16. 16 | Lecture 16 MIT 6.832 Underactuated Robotics, Spring 2009 01:23:33
  17. 17 | Lecture 17 MIT 6.832 Underactuated Robotics, Spring 2009 01:16:37
  18. 18 | Lecture 18 MIT 6.832 Underactuated Robotics, Spring 2009 01:18:43
  19. 19 | Lecture 19 MIT 6.832 Underactuated Robotics, Spring 2009 01:19:24
  20. 20 | Lecture 20 MIT 6.832 Underactuated Robotics, Spring 2009 01:17:45
  21. 21 | Lecture 21 MIT 6.832 Underactuated Robotics, Spring 2009 01:15:39
  22. 22 | Lecture 22 MIT 6.832 Underactuated Robotics, Spring 2009 01:10:49
  23. 23 | Lecture 23 MIT 6.832 Underactuated Robotics, Spring 2009 01:02:11
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    Youtube

    29-07-2024
    MIT 6.832 Underactuated Robotics, Spring 2009

    Instructor: Russell Tedrake
    See the complete course at: http://ocw.mit.edu/6-832s09
    Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines.
    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.
    License: Creative Commons BY-NC-SA
    More information at http://ocw.mit.edu/terms
    More courses at http://ocw.mit.edu