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6.832 Underactuated Robotics (MIT) 6.832 Underactuated Robotics (MIT)

Description

Includes audio/video content: AV lectures. 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 discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/a Includes audio/video content: AV lectures. 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 discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/a

Subjects

underactuated robotics | underactuated robotics | actuated systems | actuated systems | nonlinear dynamics | nonlinear dynamics | simple pendulum | simple pendulum | optimal control | optimal control | double integrator | double integrator | quadratic regulator | quadratic regulator | Hamilton-Jacobi-Bellman sufficiency | Hamilton-Jacobi-Bellman sufficiency | minimum time control | minimum time control | acrobot | acrobot | cart-pole | cart-pole | partial feedback linearization | partial feedback linearization | energy shaping | energy shaping | policy search | policy search | open-loop optimal control | open-loop optimal control | trajectory stabilization | trajectory stabilization | iterative linear quadratic regulator | iterative linear quadratic regulator | differential dynamic programming | differential dynamic programming | walking models | walking models | rimless wheel | rimless wheel | compass gait | compass gait | kneed compass gait | kneed compass gait | feedback control | feedback control | running models | running models | spring-loaded inverted pendulum | spring-loaded inverted pendulum | Raibert hoppers | Raibert hoppers | motion planning | motion planning | randomized motion planning | randomized motion planning | rapidly-exploring randomized trees | rapidly-exploring randomized trees | probabilistic road maps | probabilistic road maps | feedback motion planning | feedback motion planning | planning with funnels | planning with funnels | linear quadratic regulator | linear quadratic regulator | function approximation | function approximation | state distribution dynamics | state distribution dynamics | state estimation | state estimation | stochastic optimal control | stochastic optimal control | aircraft | aircraft | swimming | swimming | flapping flight | flapping flight | randomized policy gradient | randomized policy gradient | model-free value methods | model-free value methods | temporarl difference learning | temporarl difference learning | Q-learning | Q-learning | actor-critic methods | actor-critic methods

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see http://ocw.mit.edu/terms/index.htm

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Working on a propeller at Readhead's shipyard Working on a propeller at Readhead's shipyard

Description

Subjects

roof | roof | shadow | shadow | sky | sky | abstract | abstract | building | building | industry | industry | window | window | glass | glass | hat | hat | wall | wall | standing | standing | daylight | daylight | workers | workers | cabin | cabin | industrial | industrial | unitedkingdom | unitedkingdom | crane | crane | timber | timber | name | name | coat | coat | debris | debris | platform | platform | engineering | engineering | rail | rail | ground | ground | vessel | vessel | motto | motto | rope | rope | structure | structure | pole | pole | cranes | cranes | deck | deck | letter | letter | trousers | trousers | precision | precision | 1960s | 1960s | unusual | unusual | shipyard | shipyard | kneeling | kneeling | propeller | propeller | southshields | southshields | partnership | partnership | attentive | attentive | impressive | impressive | shaft | shaft | fascinating | fascinating | digitalimage | digitalimage | fitting | fitting | 1865 | 1865 | shipbuilding | shipbuilding | northeastengland | northeastengland | maritimeheritage | maritimeheritage | colourphotograph | colourphotograph | sirjamesknott | sirjamesknott | may1963 | may1963 | johnreadhead | johnreadhead | stricklineltd | stricklineltd | princeline | princeline | britishshipbuilders | britishshipbuilders | hainsteamshipcompanyltd | hainsteamshipcompanyltd | johnreadheadsonsltd | johnreadheadsonsltd | highwestyard | highwestyard | johnreadheadsonssouthshields | johnreadheadsonssouthshields | jsoftley | jsoftley | swanhuntergroup | swanhuntergroup | johnreadheadco | johnreadheadco

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Preparing the slipway for a launch Preparing the slipway for a launch

Description

Subjects

roof | roof | sky | sky | abstract | abstract | building | building | industry | industry | window | window | glass | glass | metal | metal | wall | wall | yard | yard | standing | standing | interesting | interesting | workers | workers | construction | construction | industrial | industrial | ship | ship | shine | shine | hand | hand | unitedkingdom | unitedkingdom | crane | crane | timber | timber | letters | letters | working | working | platform | platform | rail | rail | plate | plate | ground | ground | vessel | vessel | rope | rope | structure | structure | cranes | cranes | walker | walker | cap | cap | numbers | numbers | massive | massive | frame | frame | archives | archives | trousers | trousers | jumper | jumper | propellers | propellers | unusual | unusual | launch | launch | shipyard | shipyard | striking | striking | kneeling | kneeling | majestic | majestic | tyneside | tyneside | crease | crease | development | development | slipway | slipway | propellor | propellor | newcastleupontyne | newcastleupontyne | fascinating | fascinating | digitalimage | digitalimage | bending | bending | shipbuilding | shipbuilding | shiplaunch | shiplaunch | industrialheritage | industrialheritage | northernstar | northernstar | elswick | elswick | passengership | passengership | blackandwhitephotograph | blackandwhitephotograph | walkernavalyard | walkernavalyard | shipyardworkers | shipyardworkers | navalyard | navalyard | northeastofengland | northeastofengland | passengerliner | passengerliner | shipbuildingheritage | shipbuildingheritage | maritimeheritage | maritimeheritage | newcastleswingbridge | newcastleswingbridge | sirwgarmstrongwhitworthcoltd | sirwgarmstrongwhitworthcoltd | vickersarmstrongltd | vickersarmstrongltd | highwalker | highwalker | elswickshipyard | elswickshipyard | 27june1961 | 27june1961

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Launch of the cargo ship 'Turkistan' Launch of the cargo ship 'Turkistan'

Description

Subjects

chimney | chimney | england | england | sky | sky | blur | blur | reflection | reflection | industry | industry | water | water | standing | standing | river | river | children | children | boat | boat | interesting | interesting | cabin | cabin | industrial | industrial | ship | ship | post | post | timber | timber | flag | flag | smoke | smoke | crowd | crowd | grain | grain | paddle | paddle | bank | bank | rail | rail | vessel | vessel | rope | rope | flags | flags | calm | calm | cargo | cargo | steam | steam | deck | deck | crew | crew | porthole | porthole | cylinder | cylinder | tugboat | tugboat | raft | raft | unusual | unusual | mast | mast | launch | launch | shipyard | shipyard | float | float | shipping | shipping | kneeling | kneeling | northeast | northeast | spectator | spectator | southshields | southshields | tranquil | tranquil | fascinating | fascinating | digitalimage | digitalimage | 1865 | 1865 | rivertyne | rivertyne | shipbuilding | shipbuilding | shiplaunch | shiplaunch | cargoship | cargoship | turkistan | turkistan | readheads | readheads | tyneriver | tyneriver | blackandwhitephotograph | blackandwhitephotograph | lawe | lawe | maritimeheritage | maritimeheritage | sirjamesknott | sirjamesknott | johnreadhead | johnreadhead | stricklineltd | stricklineltd | strickline | strickline | princeline | princeline | britishshipbuilders | britishshipbuilders | hainsteamshipcompanyltd | hainsteamshipcompanyltd | johnreadheadsonsltd | johnreadheadsonsltd | johnreadheadsons | johnreadheadsons | 24october1938 | 24october1938 | highwestyard | highwestyard | johnreadheadsonssouthshields | johnreadheadsonssouthshields | jsoftley | jsoftley | swanhuntergroup | swanhuntergroup | johnreadheadco | johnreadheadco

License

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Work in progress on two Clark-Sulzer engines Work in progress on two Clark-Sulzer engines

Description

Subjects

shadow | shadow | abstract | abstract | industry | industry | metal | metal | wall | wall | shirt | shirt | hair | hair | kneel | kneel | landscape | landscape | shoe | shoe | daylight | daylight | workers | workers | construction | construction | support | support | industrial | industrial | pattern | pattern | ship | ship | shine | shine | darkness | darkness | hole | hole | timber | timber | steel | steel | parts | parts | pipe | pipe | working | working | platform | platform | engine | engine | structures | structures | progress | progress | plate | plate | vessel | vessel | social | social | row | row | tools | tools | hose | hose | pole | pole | beam | beam | climbing | climbing | maritime | maritime | bolt | bolt | cylinder | cylinder | overalls | overalls | ladder | ladder | unusual | unusual | curve | curve | shipyard | shipyard | airvent | airvent | development | development | attentive | attentive | lid | lid | lever | lever | fascinating | fascinating | digitalimage | digitalimage | sunderland | sunderland | bending | bending | manufacture | manufacture | shipbuilding | shipbuilding | southwick | southwick | blackandwhitephotograph | blackandwhitephotograph | marineengineering | marineengineering | bedplate | bedplate | americastar | americastar | may1963 | may1963 | 6cylinderengine | 6cylinderengine | 8cylinderengine | 8cylinderengine | refrigeratedcargovessel | refrigeratedcargovessel | bartramsonsltd | bartramsonsltd | williamdoxfordsonsltd | williamdoxfordsonsltd | georgeclarkltd | georgeclarkltd | southwickengineworks | southwickengineworks | workersofsunderland | workersofsunderland | clarksulzer | clarksulzer | ‘mauricedelmas’ | ‘mauricedelmas’ | twamref1361323 | twamref1361323 | mauricedelmas | mauricedelmas

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Group of children seated at tables and some kneeling, possibly a children's party or festival. Group of children seated at tables and some kneeling, possibly a children's party or festival.

Description

Subjects

shadow | shadow | seesaw | seesaw | kneeling | kneeling | bouquets | bouquets | childrensparty | childrensparty | nationallibraryofireland | nationallibraryofireland | dillonfamily | dillonfamily | lukegeralddillon | lukegeralddillon | somethingbeginningwithp | somethingbeginningwithp | augustacarolinedillon | augustacarolinedillon | baronessclonbrock | baronessclonbrock | theclonbrockphotographiccollection | theclonbrockphotographiccollection | baronclonbrock | baronclonbrock | fannymason | fannymason

License

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X0003P0014

Description

Palmar aspect of a normal equine carpal joint

Subjects

svmsvet | equine | horse | skeleton | palmar | carpus | knee | joint

License

http://creativecommons.org/licenses/by-nc-sa/2.0/

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X0003P0013

Description

Lateral aspect of a normal equine carpal joint

Subjects

svmsvet | equine | horse | skeleton | lateral | carpus | knee | joint

License

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X0003P0012

Description

Medial aspect of a normal equine carpal joint

Subjects

svmsvet | equine | horse | skeleton | medial | carpus | knee | joint

License

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X0003P0011

Description

Dorsal aspect of a normal equine carpal joint

Subjects

svmsvet | equine | horse | skeleton | dorsal | carpus | knee | joint

License

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X0003P0010

Description

Dorsal aspect of a normal equine carpal joint

Subjects

svmsvet | equine | horse | skeleton | dorsal | carpus | knee | joint

License

http://creativecommons.org/licenses/by-nc-sa/2.0/

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"That's your game is it?"

Description

This is a glass slide telling the comic tale of a young boy playing tricks. The slide is from some time between the late 19th century and early 20th century. It would have been viewed using a magic lantern, an early type of image projector. This image is part of the Tyne & Wear Archives & Museums set Playing Tricks. (Copyright) We're happy for you to share this digital image within the spirit of The Commons. Please cite 'Tyne & Wear Archives & Museums' when reusing. Certain restrictions on high quality reproductions and commercial use of the original physical version apply though; if you're unsure please email adam.bell@twmuseums.org.uk

Subjects

glassslide | magiclantern | imageprojecter | late19thcenturytoearly20thcentury | comictale | youngboy | playingtricks | thatsyourgameisit | socialhistory | archives | artanddesign | abstract | colourphotograph | digitalimage | series | pictures | frames | wall | interior | doorway | door | floor | room | ceiling | text | letters | blackoutline | number | furniture | mat | table | chair | cloth | fabric | mark | grain | curve | man | woman | child | cap | beard | hair | embrace | kneeling | seated | standing | laughter | fascinating | unusual | interesting | engaging | neutralbackground | unitedkingdom | northeastofengland | curtain | dot | leg

License

No known copyright restrictions

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X0002P0466

Description

Carpal abscess

Subjects

svmsvet | cow | bovine | carpus | joint | knee | abscess | infection

License

http://creativecommons.org/licenses/by-nc-sa/2.0/

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X0002P0465

Description

Carpal abscess

Subjects

svmsvet | cow | bovine | carpus | joint | knee | abscess | infection

License

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X0002P0466

Description

Carpal abscess

Subjects

svmsvet | cow | bovine | carpus | joint | knee | abscess | infection

License

http://creativecommons.org/licenses/by-nc-sa/2.0/

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X0004P0032

Description

Lateral radiograph of an equine stifle joint (R)

Subjects

svmsvet | radiograph | xray | equine | horse | stifle | knee | joint | lateral

License

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X0002P0465

Description

Carpal abscess

Subjects

svmsvet | cow | bovine | carpus | joint | knee | abscess | infection

License

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X0004P0033

Description

Lateral flexed radiograph of an equine carpal joint

Subjects

svmsvet | radiograph | xray | equine | horse | carpus | carpal | joint | knee | lateral | flexed

License

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X0004P0034

Description

Radiograph showing a skyline view of the distal row of the left carpal joint in a horse

Subjects

svmsvet | radiograph | xray | equine | horse | carpus | carpal | joint | knee | skyline | distal | row

License

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X0004P0032

Description

Lateral radiograph of an equine stifle joint (R)

Subjects

svmsvet | radiograph | xray | equine | horse | stifle | knee | joint | lateral

License

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X0004P0030

Description

Lateral radiograph of an equine carpus, flexed view

Subjects

svmsvet | radiograph | xray | horse | equine | carpus | knee | joint | lateral | flexed

License

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X0004P0033

Description

Lateral flexed radiograph of an equine carpal joint

Subjects

svmsvet | radiograph | xray | equine | horse | carpus | carpal | joint | knee | lateral | flexed

License

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X0004P0034

Description

Radiograph showing a skyline view of the distal row of the left carpal joint in a horse

Subjects

svmsvet | radiograph | xray | equine | horse | carpus | carpal | joint | knee | skyline | distal | row

License

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X0004P0029

Description

Lateromedial radiograph of an equine carpal joint (L) demonstrating a smooth fragment and defect on the palmar aspect of the distal carpal joint

Subjects

svmsvet | radiograph | xray | equine | horse | carpus | knee | joint | lateromedial | fragment | distal

License

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X0004P0007

Description

Lateral radiograph of an equine stifle joint

Subjects

svmsvet | radiograph | xray | equine | horse | stifle | knee | lateral | joint

License

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