InfoCoBuild

6.832 Underactuated Robotics

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)

Lecture 07 - Swing-up Control of Acrobot and Cart-pole Systems

Go to the Course Home or watch other lectures:

Lecture 01 - Introduction

Lecture 02 - The Simple Pendulum

Lecture 03 - Optimal Control of the Double Integrator

Lecture 04 - Optimal Control of the Double Integrator (cont.)

Lecture 05 - Numerical Optimal Control (Dynamic Programming)

Lecture 06 - Acrobot and Cart-pole

Lecture 07 - Swing-up Control of Acrobot and Cart-pole Systems

Lecture 08 - Dynamic Programming (DP) and Policy Search

Lecture 09 - Trajectory Optimization

Lecture 10 - Trajectory Stabilization and Iterative Linear Quadratic Regulator

Lecture 11 - Walking

Lecture 12 - Walking (cont.)

Lecture 13 - Running

Lecture 14 - Feasible Motion Planning

Lecture 15 - Global Policies from Local Policies

Lecture 16 - Introducing Stochastic Optimal Control

Lecture 17 - Stochastic Gradient Descent

Lecture 18 - Stochastic Gradient Descent 2

Lecture 19 - Temporal Difference Learning

Lecture 20 - Temporal Difference Learning with Function Approximation

Lecture 21 - Policy Improvement

Lecture 22 - Actor-critic Methods

Lecture 23 - Case Studies in Computational Underactuated Control