6.8210 Spring 2024 Lecture 1: Robot dynamics and model-based control

[@xxxy912]

Thank you very much! Greetings from Germany.

[@user-lw1cf9wr1m]

Thanks to whoever decided to upload this.

[@LeoHoulston]

this is awesome

[@mishas1653]

Thank you for the lecture. Can you briefly recap questions from the audience to the microphone?

[@sucim]

Jason Statham teaching robotics was not on my 2024 bingo card

[@khkgkgkjgkjh6647]

lmao

[@蔡政廷-f9z]

49:35 Can someone teach me why a fully-actuated system can be equivalent to a double integrator (q''=u) ? This means the input u (torque) can directly equal to the second differential of output q (position)? Thanks!

[@mishas1653]

As I understood, If you have a fully-actuated system, that means you can get u from q'' = f1(q,q',t) + f2(q,q',t)u in form u = f2^-1(q,q',t)(q'' - f1(q,q',t)). And now, taking the last equation, you can "change" q'' to any control you want (f.e u*) and passing u to the first equation get q'' = u*, meaning you can fully control accelerations. You can find more info in lecture notes (underactuated.csail.mit.edu/intro.html#section3)

[@shankhasubhrasarkar167]

Sir how can I access the python codes you used in the lecture can you provide the link. can't find it

[@junqingqiao8007]

Thanks a lot. It's a very good course but there is room for improvement for the camera.

[@junqingqiao8007]

I can never see the whole black board.

[@maksym1640]

Where is lecture 2? Can you upload?

[@rtedrake]

added to the playlist. (we had a covid day and then a snow day, so had to use prerecorded videos for those lecture)

[@maksym1640]

@@rtedrake ok, thanks! You are awesome!

[@SphereofTime]

4:01

[@GCKteamKrispy]

Is there a pre-requisit course for this one? Because I have hard time understanding some terms and concepts?

[@rtedrake]

This class (Underactuated Robotics) is officially a grad class; the other class I teach (Robotic Manipulation) is both undergrad and grad, so starts more slowly. kzbin.info/www/bejne/rGGXo6Fua6mYnsk .

[@GCKteamKrispy]

@@rtedrake I see, Thank you! Also, do you think you could recommend some textbooks that are for total beginners (from scratch) that are either PDF or available on amazon now