Underactuated Robotics

Underactuated Robotics

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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 c…

Russell Tedrake

Apr 9, 2015 LATEST EPISODE
infrequent NEW EPISODES
1h 14m AVG DURATION
23 EPISODES

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Latest episodes from Underactuated Robotics

Lecture 22: Actor-Critic methods

Play Episode Listen Later Apr 9, 2015 70:49

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

actor methods lecture critic

Lecture 23: Case studies in computational underactuated control

Play Episode Listen Later Apr 9, 2015 62:11

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

case study lecture computational

Lecture 21: Policy improvement

Play Episode Listen Later Apr 9, 2015 75:39

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

Lecture 20: Temporal difference learning with function approximation

Play Episode Listen Later Apr 9, 2015 77:44

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

learning lecture function temporal approximation

Lecture 19: Temporal difference learning

Play Episode Listen Later Apr 9, 2015 79:24

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

learning lecture temporal

Lecture 12: Walking (continued)

Play Episode Listen Later Apr 9, 2015 71:30

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

walking lecture

Lecture 18: Stochastic Gradient Descent 2

Play Episode Listen Later Apr 9, 2015 78:43

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture descent gradient stochastic

Lecture 16: Introducing stochastic optimal control

Play Episode Listen Later Apr 9, 2015 83:33

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture optimal stochastic

Lecture 17: Stochastic Gradient Descent

Play Episode Listen Later Apr 9, 2015 76:36

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture descent gradient stochastic

Lecture 10: Trajectory stabilization and iterative linear quadratic regulator (iLQR)

Play Episode Listen Later Apr 9, 2015 79:51

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture regulators linear trajectory stabilization iterative quadratic

Lecture 11: Walking

Play Episode Listen Later Apr 9, 2015 75:51

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

walking lecture

Lecture 8: Dynamic programming (DP) and policy search

Play Episode Listen Later Apr 9, 2015 74:00

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

search policy lecture dynamic programming

Lecture 9: Trajectory optimization

Play Episode Listen Later Apr 9, 2015 69:06

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture optimization trajectory

Lecture 15: Global policies from local policies

Play Episode Listen Later Apr 9, 2015 78:28

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

global local lecture policies

Lecture 14: Feasible motion planning

Play Episode Listen Later Apr 9, 2015 73:54

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

planning motion lecture feasible

Lecture 13: Running

Play Episode Listen Later Apr 9, 2015 57:32

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

running lecture

Lecture 4: Optimal control of the double integrator (continued)

Play Episode Listen Later Apr 9, 2015 84:53

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture optimal integrator

Lecture 7: Swing-up control of acrobot and cart-pole systems

Play Episode Listen Later Apr 9, 2015 65:24

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

swing lecture cart pole

Lecture 5: Numerical optimal control (dynamic programming)

Play Episode Listen Later Apr 9, 2015 72:42

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture optimal numerical dynamic programming

Lecture 3: Optimal control of the double integrator

Play Episode Listen Later Apr 9, 2015 76:43

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture optimal integrator

Lecture 6: Acrobot and cart-pole

Play Episode Listen Later Apr 9, 2015 80:10

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

lecture cart pole

Lecture 2: The Simple Pendulum

Play Episode Listen Later Apr 9, 2015 68:59

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

simple lecture pendulum

Lecture 1: Introduction

Play Episode Listen Later Apr 9, 2015 74:11

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods.

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