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Underactuated Robotics

Massachusetts Institute of TechnologyUnited States6.832
Free, no sign-up neededSpring 2022English
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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.

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