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Underactuated Robotics

underactuated.mit.edu · 2,779 words · saved by 1 readers

© Russ Tedrake, 2024 Last modified 2024-12-6. How to cite these notes, use annotations, and give feedback. Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2024 semester. Lecture videos are available on YouTube. You can also download a PDF version of these notes (updated much less frequently) from here. The PDF version of these notes are autogenerated from the HTML version. There are a few conversion/formatting artifacts that are easy to fix (please feel free to point them out). But there are also interactive elements in the HTML version are not easy to put into the PDF. When possible, I try to provide a link. But I consider the online HTML version to be the main version. Model Systems Nonlinear Planning and Control Estimation and Learning Appendix You can find documentation for the source code supporting these notes here. This book is about nonlinear dynamics and control, with a focus on mechanical systems. I've spent my c

Underactuated Robotics Note: These are working notes used for a course being taught at MIT . They will be updated throughout the Spring 2024 semester. Lecture videos are available on YouTube . Search these notes PDF version of the notes You can also download a PDF version of these notes (updated much less frequently) from here . The PDF version of these notes are autogenerated from the HTML version. There are a few conversion/formatting artifacts that are easy to fix (please feel free to point them out). But there are also interactive elements in the HTML version are not easy to put into the P

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