Underactuated Robotics

开始时间: 04/22/2022 持续时间: 10 weeks

所在平台: EdxArchive 课程类别: 计算机科学 大学或机构: MITx 授课老师： Russ Tedrake Michael Posa

课程主页: https://www.edx.org/archive/underactuated-robotics-mitx-6-832x

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课程详情

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.

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