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.

• 课时1：Underactuated Robotics (1小时17分34秒)

• 课时2：Underactuated Robotics (1小时18分34秒)

• 课时3：Underactuated Robotics (1小时15分7秒)

• 课时4：Underactuated Robotics (1小时20分27秒)

• 课时5：Underactuated Robotics (1小时15分9秒)

• 课时6：Underactuated Robotics (1小时22分13秒)

• 课时7：Underactuated Robotics (1小时17分37秒)

• 课时8：Underactuated Robotics (1小时19分21秒)

• 课时9：Underactuated Robotics (1小时22分47秒)

• 课时10：Underactuated Robotics (1小时16分12秒)

• 课时11：Underactuated Robotics (1小时20分50秒)

• 课时12：Underactuated Robotics (1小时22分32秒)

• 课时13：Underactuated Robotics (1小时19分6秒)

• 课时14：Underactuated Robotics (1小时20分35秒)

• 课时15：Underactuated Robotics (1小时12分52秒)

• 课时16：Underactuated Robotics (1小时22分56秒)

• 课时17：Underactuated Robotics (1小时22分17秒)

• 课时18：Underactuated Robotics (1小时24分46秒)

• 课时19：Underactuated Robotics (1小时24分2秒)

• 课时20：Underactuated Robotics (1小时24分40秒)

• 课时21：Underactuated Robotics (1小时20分31秒)

• 课时22：Underactuated Robotics (1小时21分9秒)

• 课时23：Underactuated Robotics (1小时24分5秒)