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Published by: Massachusetts Institute of Technology | Language: English
Published by: Massachusetts Institute of Technology | Language: English
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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
Author(s):
Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
File: 6-832-spring-2009.zip
This OER is part of OCW: Underactuated Robotics
Published under: /Download Course Materials
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Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
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Pages: 4
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
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Pages: 3
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
File: MIT6_832s09_pset05.pdf
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
File: MIT6_832s09_pset04.pdf
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
File: MIT6_832s09_pset02.pdf
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
File: MIT6_832s09_pset03.pdf
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
File: MIT6_832s09_pset01.pdf
This OER is part of OCW: Underactuated Robotics
Published under: /Assignments
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
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Pages: 13
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
|
Pages: 14
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
|
Pages: 8
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
|
Pages: 8
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
|
Pages: 8
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
|
Pages: 17
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
More OERs like this |
|
Pages: 9
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
This OER is part of OCW: Underactuated Robotics
Published under: /Readings
Share in:
OCW Authors:
Inherited Tag(s):
- electrical engineering and computer science
- underactuated robotics
- actuated systems
- nonlinear dynamics
- simple pendulum
- optimal control
- double integrator
- quadratic regulator
- hamilton-jacobi-bellman sufficiency
- minimum time control
- acrobot
- cart-pole
- partial feedback linearization
- energy shaping
- policy search
- open-loop optimal control
- trajectory stabilization
- iterative l
22 results found.
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