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!)
