图 书 馆
欠驱动机器人Underactuated Robotics |
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| 课程网址: | http://ocw.mit.edu/courses/electrical-engineering-and-computer-sc... |
| 主讲教师: | Russell Tedrake |
| 开课单位: | 麻省理工学院 |
| 开课时间: | 2009-01-01 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | 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/approximate optimal control, and the influence of mechanical design on control. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines. Acknowledgements Professor Tedrake would like to thank John Roberts for his help with the course and videotaping the lectures. |
| 关 键 词: | 欠驱动机器人; 驱动系统; 非线性动力学; 最小时间控制; 部分反馈线性化 |
| 课程来源: | 麻省理工学院公开课 |
| 最后编审: | 2024-03-18：chenjy |
| 阅读次数: | 90 |