My study corner for MIT 6.8210: Underactuated Robotics by Prof. Russ Tedrake. I've learned a lot from this wonderful robotics course.
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.
This repository only presents my personal work within the course. I would be very happy if it helps you to gain more knowledge and I could get constructive feedback from you. Let's learn together.
If GitHub cannot render .ipynb files, check this, or open with github.dev, or just dowload the files.
Please star ⭐ if you find it useful.
Legged Robot Trajectory Optimization
Compass Gait Trajectory Optimization
Orbital Transfer Trajectory Optimization
Driving iLQR-based Trajectory Optimization
Plane Perching Trajectory Optimization
Swing-up Cartpole
Swing-up Acrobot
