Author Topic: Underactuated Robotics  (Read 5635 times)

0 Members and 1 Guest are viewing this topic.

Offline AdminTopic starter

  • Administrator
  • Supreme Robot
  • *****
  • Posts: 11,657
  • Helpful? 169
    • Society of Robots
Underactuated Robotics
« on: December 15, 2006, 07:45:22 AM »
MIT has a new class that looks very interesting, this is the course info:

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 systems without full
authority requires a different style of control, and requires that we rely
on and exploit the natural dynamics of our machines.

This course introduces nonlinear dynamics and control in the context of
underactuated mechanical systems, with an emphasis on machine learning
control methods. Topics will include nonlinear dynamics of passive robots
(walkers, swimmers, flyers), motion planning, partial feedback
linearization, energy-shaping control, analytical optimal control,
reinforcement learning/approximate optimal control, and the influence of
mechanical design on control. Discussions will include examples from
biology and applications to legged locomotion, compliant manipulation,
underwater robots, and flying machines.

http://stellar.mit.edu/S/course/6/sp07/6.881/index.html
(it appears they will post lecture notes and other course info publicly over the coming semester - worth following!)

Offline JonHylands

  • Expert Roboticist
  • Supreme Robot
  • *****
  • Posts: 562
  • Helpful? 3
  • Robot Builder/ Software Developer
Re: Underactuated Robotics
« Reply #1 on: December 15, 2006, 08:51:42 AM »
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 systems without full
authority requires a different style of control, and requires that we rely
on and exploit the natural dynamics of our machines.

This is absolutely what I plan to do with my biped design...

- Jon

Offline JesseWelling

  • Expert Roboticist
  • Supreme Robot
  • *****
  • Posts: 707
  • Helpful? 0
  • Only You Can Build A Robot!
Re: Underactuated Robotics
« Reply #2 on: December 15, 2006, 12:15:54 PM »
high level stuff...I just want a 4 wheeled robot that can drift ;D

Offline elpezzz

  • Beginner
  • *
  • Posts: 3
  • Helpful? 0
Re: Underactuated Robotics/MIT
« Reply #3 on: December 15, 2006, 06:53:15 PM »
stellar is usually only accessible to people actually enrolled in the class.

Another resource that is open to the public is open courseware. they usually have lecture notes, homework, tests, anything the prof wants to provide. classes people here might be interested in..

autonomous robot design competition

intro to robotics

a quick search for "robot" brings up a bunch of other pages as well. enjoy!

 


Get Your Ad Here