6.832 Underactuated Robotics


Class Info

Covers nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on computational methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, robust and optimal control, reinforcement learning/approximate optimal control, and the influence of mechanical design on control. Includes 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 (Fall 2017). It is instructed by R. L. Tedrake.

Lecture occurs 2:30 PM to 4:00 PM on Tuesdays and Thursdays in 32-141.

This class counts for a total of 12 credits.

You can find more information on MIT OpenCourseWare at the Underactuated Robotics site or on the 6.832 Stellar site.

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Underactuated Robotics
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