Lecture 2 | MIT 6.832 Underactuated Robotics, Spring 2009
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Теги

underactuated roboticsactuated systemsnonlinear dynamicssimple pendulumoptimal controldouble integratorquadratic regulatorminimum time controlacrobotcart-polepartial feedback linearizationenergy shapingpolicy searchopen-loop optimal controltrajectory stabilizationwalking modelsrimless wheelcompass gaitkneed compass gaitfeedback controlrunning modelsRaibert hoppersmotion planningrandomized motion planningprobabilistic road maps