Robot Dynamics and Model-Based Control
1:25:07Nonlinear Dynamics
1:12:48Dynamic Programming I
1:20:31Dynamic Programming II
1:22:07Acrobots, Cart-poles, and Quadrotors I
1:21:24Dynamic Programming III
1:19:46Lyapunov Analysis I
1:20:44Computing Lyapunov Functions I
1:23:56Computing Lyapunov Functions II
1:21:08Trajectory Optimization I
1:18:55Trajectory Optimization II
1:22:52Trajectory Stabilization
1:18:07Hybrid Trajectory Optimization
1:19:56Simple Models of Walking
1:09:54Planning + Control Through Contact
1:16:39Humanoid Robots
1:18:47Mixed-discrete (combinatorial) and continuous optimization
1:21:04Sampling-based (kinodynamic) motion planning
1:20:47Stochastic dynamics
1:18:38Stochastic Control
1:18:37Robust Control & Policy Search
1:17:06Output feedback
1:10:41Feedback Motion Planning
1:18:06Imitation Learning, Foundation Models, and Course Wrap-up
1:22:02Acrobots, Cart-poles, and Quadrotors I
Toyota Professor of EECS, Aeronautics & Mechanical Engineering
This lecture introduces the dynamics and control challenges inherent in underactuated systems through canonical examples such as acrobots, cart-poles, and quadrotors, laying the groundwork for nonlinear control strategies.