Robot Dynamics and Model-Based Control (MIT 6.8210, Lecture 1)
1:25:07Nonlinear Dynamics
1:12:48MIT 6.832 (Underactuated Robotics), Spring 2020 | Dynamic Programming I
1:20:31Dynamic Programming II (MIT 6.8210, Lecture 4)
1:22:07Acrobots, Cart-poles, and Quadrotors I
1:21:24Dynamic Programming III (MIT 6.8210, Lecture 6)
1:19:46Lyapunov Analysis I (MIT 6.8210, Lecture 7)
1:20:44Computing Lyapunov Functions I (MIT 6.8210/6.832, Lecture 8)
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 (MIT 6.8210, Lecture 23)
1:18:06Imitation Learning, Foundation Models, and Course Wrap-up (MIT 6.8210, Lecture 24)
1:22:02Simple Models of Walking
This lecture investigates simplified dynamic models to understand the mechanics of bipedal locomotion, focusing on concepts like the compass gait and inverted pendulum models. It analyzes stability and energy efficiency in walking.
Hybrid Trajectory Optimization
Next · Lecture 15Planning + Control Through Contact