Course Description
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 introduces nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on computational methods. Topics include the nonlinear dynamics of robotic manipulators, applied optimal and robust control and motion planning. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.
Course Information
Class Time and Location
- Tuesday and Thursday
- From 2:30 to 4:00 pm EST in MIT E25-111
- See class schedule for complete details
Office Hours
- Monday 4:00 to 5:00 pm EST (Room 24-321), Jaehun
- Tuesday 7:00 to 8:00 pm EST (Room 34-304), Savva
- Friday 11:00 am to 12:00 pm EST (Room 24-321), Peter
Useful Links
- The class textbook can be found here
- Lectures are available on YouTube channel
- Class forum is on Piazza
Prerequisites
- Comfort with linear algebra and differential equations
- Familiarity with optimization will help
- Coding assignments will be in Python
- See the FAQs if you have any questions about prerequisites and to find additional background material.
Grading Distribution
At the end of the term, we will automatically compute your grade using whichever of these two options gives you the higher grade:- Option 1
- Assignments: 35%
- Midterm: 25%
- Final Project: 35%
- Class attendance/participation: 5%
- Option 2
- Assignments: 35%
- Midterm: 30%
- Final Project: 35%
Policy on Generative AI
Generative AI is a resource like any other. You are free to use it, but should always cite your resources.Regrade policy
All assignments will be graded through Gradescope. The following policies apply to regrade requests.- Students have one week after grade posting to request a regrade request.
- Students must come to office hours to discuss a particular problem they want regraded. The TA will then let them know it is okay to submit a regrade request on Gradescope.
- Students who cannot make it to office hours within the week should write an email requesting a zoom meeting to discuss the regrade.
- There will be no regrades on autograded assignments. It is the student's responsibility to be sure the autograder runs for their notebook on Gradescope.
People
Teaching Assistant
Jaehun Choe
Teaching Assistant
Savva Morozov
