World Mentoring Academy "An Open Community for Successful Learning"
Free World class mobile education, earn a Bachelors for less than $5,000 books & Test Fees from State Universities, using Experiential, Design & Project based education. Supporting credit-by-exam & Challenging University courses.
Information for lesson "Underactuated Robotics 6.832 MIT"
Description: 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 discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics 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 include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.
Professors: Michael Williams
Interested in Mentoring? We are looking for mentors/teachers who are amateurs or professionals in every field. Drop me a line at mike @ worldmentoringacademy . com (in subject line "teaching course")