6.881 Underactuated Robots (H)

L MW2:30-4, Room 32-144
Professor Russ Tedrake, russt@csail.mit.edu
Prereq.: 6.141 or 2.165 or permission of instructor, 6.302, 6.867 recommended
3-0-9

This subject qualifies as a Artificial Intelligence or Communication, Control, and Signal Processing Engineering Concentration subject.

Nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics will 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 will include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.