6.832 Underactuated Robotics

Class Info

Covers nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on computational methods. Topics include the nonlinear dynamics of robotic manipulators, applied optimal and robust control and motion planning. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.

This class has 6.141, 2.12, and 2.165 as prerequisites.

6.832 will be offered this semester (Spring 2018). It is instructed by R. Tedrake.

Lecture occurs 2:30 PM to 4:00 PM on Tuesdays and Thursdays in 32-124.

This class counts for a total of 12 credits.

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