6.832  Underactuated Robotics

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, motion planning, and reinforcement learning. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.

For course 6 students, this course will fulfill a TQE requirement for AI.

Prerequisites:

Students actively engaged in robotics or related research should have all of the necessary prerequisites. Relevant courses include introductory classes in robotics (6.141, 2.12, 2.165 or equivalent), control (e.g., 6.302), and/or machine learning (6.867). Some familiarity with MATLAB is recommended. Students from all departments are welcome.

Workload:

Coursework will involve problem sets, a midterm exam, and a final project. There will not be a final exam.