Underactuated Robotics MIT 2019 spring 6.382

Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines.

This course introduces 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.

• Chapter 1：Underactuated Robotics (1 hours and 17 minutes and 34 seconds)

• Chapter 2：Underactuated Robotics (1 hours and 18 minutes and 34 seconds)

• Chapter 3：Underactuated Robotics (1 hours and 15 minutes and 7 seconds)

• Chapter 4：Underactuated Robotics (1 hours and 20 minutes and 27 seconds)

• Chapter 5：Underactuated Robotics (1 hours and 15 minutes and 9 seconds)

• Chapter 6：Underactuated Robotics (1 hours and 22 minutes and 13 seconds)

• Chapter 7：Underactuated Robotics (1 hours and 17 minutes and 37 seconds)

• Chapter 8：Underactuated Robotics (1 hours and 19 minutes and 21 seconds)

• Chapter 9：Underactuated Robotics (1 hours and 22 minutes and 47 seconds)

• Chapter 10：Underactuated Robotics (1 hours and 16 minutes and 12 seconds)

• Chapter 11：Underactuated Robotics (1 hours and 20 minutes and 50 seconds)

• Chapter 12：Underactuated Robotics (1 hours and 22 minutes and 32 seconds)

• Chapter 13：Underactuated Robotics (1 hours and 19 minutes and 6 seconds)

• Chapter 14：Underactuated Robotics (1 hours and 20 minutes and 35 seconds)

• Chapter 15：Underactuated Robotics (1 hours and 12 minutes and 52 seconds)

• Chapter 16：Underactuated Robotics (1 hours and 22 minutes and 56 seconds)

• Chapter 17：Underactuated Robotics (1 hours and 22 minutes and 17 seconds)

• Chapter 18：Underactuated Robotics (1 hours and 24 minutes and 46 seconds)

• Chapter 19：Underactuated Robotics (1 hours and 24 minutes and 2 seconds)

• Chapter 20：Underactuated Robotics (1 hours and 24 minutes and 40 seconds)

• Chapter 21：Underactuated Robotics (1 hours and 20 minutes and 31 seconds)

• Chapter 22：Underactuated Robotics (1 hours and 21 minutes and 9 seconds)

• Chapter 23：Underactuated Robotics (1 hours and 24 minutes and 5 seconds)