Underactuated Robotics

Algorithms for Walking, Running, Swimming, Flying, and Manipulation

Russ Tedrake

© Russ Tedrake, 2022
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Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2022 semester. Lecture videos are available on YouTube.

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State Estimation

Observers and the Kalman Filter

Recursive Bayesian Filters

Unscented Kalman, Particle Filters. Largely defer to other texts, like probabilistic robotics. DART? Other point-cloud-based algorithms?

Smoothing

ISAM, ...
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