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Underactuated Robotics MIT 6.832
Saul Field edited this page Oct 30, 2020
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Schedule: http://underactuated.csail.mit.edu/Spring2020/schedule.html
Text: http://underactuated.csail.mit.edu/index.html
Lectures (2020): https://www.youtube.com/playlist?list=PLkx8KyIQkMfX1WpWYqtep7TOmboZeDtev
Lectures (2019): https://www.youtube.com/playlist?list=PLkx8KyIQkMfVG-tWyV3CcQbon0Mh5zYaj
Lecture: https://youtu.be/lMhs3TbjMl0
Text: http://underactuated.mit.edu/acrobot.html
- deriving equations of motion for 3 "canonically underactuated systems" (acrobot, cart-pole, quadroter)
- can we linearize the nonlinear dynamics at a fixed point and use LQR?
- controllability: A control system is called controllable if it is possible to construct an unconstrained input signal which will move the system from any initial state to any final state in a finite interval of time
- underactuated does not mean non-controllable!
- eigenvalue analysis of the linearization for the pendulum
- phase portrait of the linear system approximates the true phase portrait extremely well (locally)
- demo: simulations using LQR on the cart-pole and the quadrotor; stabilizes the system very well
- half of the problem still remains: how do we get the system to the area around the fixed point if we don't start there?
Good overview of linear systems and eigenvalue analysis: