Lecture Videos | Underactuated Robotics | Electrical Engineering and Computer Science | MIT OpenCourseWare

Course Info

Instructor

Prof. Russell Tedrake

Departments

Electrical Engineering and Computer Science

As Taught In

Spring 2009

Level

Graduate

Topics

Engineering
- Computer Science
  - Artificial Intelligence
- Electrical Engineering
  - Robotics and Control Systems

Learning Resource Types

Exams

Lecture Videos

Projects

Problem Sets with Solutions

Programming Assignments with Examples

Download Course

Lecture Videos

Lecture 1: Introduction

Lecture 2: The Simple Pendulum

Lecture 3: Optimal Control of the Double Integrator

Lecture 4: Optimal Control of the Double Integrator (cont.)

Lecture 5: Numerical Optimal Control (Dynamic Programming)

Lecture 6: Acrobot and Cart-pole

Lecture 7: Swing-up Control of Acrobot and Cart-pole Systems

Lecture 8: Dynamic Programming (DP) and Policy Search

Lecture 9: Trajectory Optimization

Lecture 10: Trajectory Stabilization and Iterative Linear Quadratic Regulator

Lecture 11: Walking

Lecture 12: Walking (cont.)

Lecture 13: Running

Lecture 14: Feasible Motion Planning

Lecture 15: Global Policies from Local Policies

Lecture 16: Introducing Stochastic Optimal Control

Lecture 17: Stochastic Gradient Descent

Lecture 18: Stochastic Gradient Descent 2

Lecture 19: Temporal Difference Learning

Lecture 20: Temporal Difference Learning with Function Approximation

Lecture 21: Policy Improvement

Lecture 22: Actor-critic Methods

Lecture 23: Case Studies in Computational Underactuated Control

Course Info

Instructor

Prof. Russell Tedrake

Departments

Electrical Engineering and Computer Science

As Taught In

Spring 2009

Level

Graduate

Topics

Engineering
- Computer Science
  - Artificial Intelligence
- Electrical Engineering
  - Robotics and Control Systems

Learning Resource Types

Exams

Lecture Videos

Projects

Problem Sets with Solutions

Programming Assignments with Examples

Download Course

MIT Open Learning

Over 2,500 courses & materials

Freely sharing knowledge with learners and educators around the world. Learn more

© 2001–2024 Massachusetts Institute of Technology

Accessibility

Creative Commons License

Terms and Conditions

Proud member of:

© 2001–2024 Massachusetts Institute of Technology