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Underactuated Robotics - Massachusetts Institute of Technology



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Algorithms for Walking, Running, Swimming, Flying, and Manipulation With an apprenticeship you earn while you learn, you gain recognized qualifications, job specific skills and knowledge and this helps you stand out in the job market.With this course you earn while you learn, you gain recognized qualifications, job specific skills and knowledge and this helps you stand out in the job market.

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Requirements: Basic linear algebra and differential equations.


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What you'll learn on the course

Computer Science

Course programme

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 introduces nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on computational methods. Topics include the nonlinear dynamics of robotic manipulators, applied optimal and robust control and motion planning. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines. FAQ Who can register for this course? Unfortunately, learners from Iran, Sudan, Cuba and the Crimea region of Ukraine will not be able to register for this course at the present time. While edX has received a license from the U.S. Office of Foreign Assets Control (OFAC) to offer courses to learners from Iran and Sudan our license does not cover this course. Separately, EdX has applied for a license to offer courses to learners in the Crimea region of Ukraine, but we are awaiting a determination from OFAC on that application. We are deeply sorry the U.S. government has determined that we have to block these learners, and we are working diligently to rectify this situation as soon as possible.

Additional information

Russ Tedrake Russ is the X Consortium Associate Professor of Electrical Engineering and Computer Science and Aeronautics and Astronautics at MIT, and the Director of the Center for Robotics at the Computer Science and Artificial Intelligence Lab.  He runs the Robot Locomotion Group. Russ completed his undergraduate studies in computer science and engineering at the University of Michigan, and his graduate studies in electrical engineering and computer science at MIT working in the brain and cognitive sciences department.  During his education, he has also spent time at Microsoft, Microsoft Research, and the Santa Fe Institute. Robin Deits Robin completed his undergraduate studies in physics at MIT, and is currently pursuing his PhD in EECS at MIT.