## 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 10 - Trajectory Stabilization and Iterative Linear Quadratic Regulator |

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