Dynamic analysis, design, and control of robots. Forward and inverse kinematics and dynamics of multi-input, multi-output rigid body systems. Computed torque control. Adaptive control. System identification. Force feedback, adaptive visual servoing. Task planning, teleoperation. Elements of biological planning and control. Motor primitives, entrainment, locomotion, active sensing, binding models. Term projects.
This class has 2.151 as a prerequisite.
Lecture occurs 11:00 AM to 12:30 PM on Tuesdays and Thursdays in 1-371.
This class counts for a total of 12 credits.
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