2024年11月11日 · Identify the set of states $\bx = [\bq^T, \dot \bq^T]^T$ in which the system is underactuated. For all the states in which the system is underactuated, identify an acceleration $\ddot \bq (\bq, \dot \bq)$ that cannot be instantaneously achieved. Provide a rigorous proof of your claim by using the equations of motion: plug the candidate ...

For systems that are trivially underactuated (torques on some joints, no torques on other joints), we can, without loss of generality, reorganize the joint coordinates in any underactuated system described by the manipulator equations into the form: \begin{align} \bM_{11} \ddot{\bq}_1 + \bM_{12} \ddot{\bq}_2 &= \btau_1, \label{eq:passive_dyn ...

The initial transcriptions of motion planning into GCS were focused on kinematic trajectory optimization (as needed in robotic manipulation) Marcucci23a, but we are growing the capability towards dynamic (underactuated) trajectory optimization.

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.

Underactuated Robotics. Algorithms for Walking, Running, Swimming, Flying, and Manipulation. Russ Tedrake © Russ Tedrake, 2024 Last modified . How to cite these notes, use …

2024年12月6日 · Underactuated Robotics. Algorithms for Walking, Running, Swimming, Flying, and Manipulation. Russ Tedrake © Russ Tedrake, 2024 Last modified . How to cite these notes, use annotations, and give feedback.

The control of walking robots is definitely underactuated: assuming we cannot pull on the ground (and barring any aerodynamic effects!), then no matter how powerful my actuators are, there is nothing that we can do to accelerate the center of mass of …

2024年11月11日 · Underactuated Robotics. Algorithms for Walking, Running, Swimming, Flying, and Manipulation. Russ Tedrake © Russ Tedrake, 2024 Last modified . How to cite these notes, use annotations, and give feedback.

Final Project Information. The final project will be your opportunity to take what you have learned in the class and put it towards an application of your choice.

2024年5月30日 · Underactuated Robotics: Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course Notes for MIT 6.832). Downloaded on [date] from https://underactuated.csail.mit.edu/