Underactuated Robotics | MIT OCW Course

Explore the world of underactuated robotic systems, learn about nonlinear control, optimization-based control, and motion planning with this MIT OpenCourseWare course.

Introduction

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 au

Highlights

• Focuses on underactuated robotic systems, which have fewer control inputs than degrees of freedom
• Covers topics such as nonlinear control, optimization-based control, and motion planning
• Includes hands-on projects and video lectures by Professor Russell Tedrake

Recommendation

This course is recommended for graduate students and researchers interested in the field of robotics, particularly those looking to explore more aggressive and efficient robotic motion. The course's emphasis on underactuated systems and optimization-based control techniques provides valuable insights for developing advanced robotic systems.