Underactuated Robotics

Video Lectures

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