6.8210 Spring 2024 Lecture 1: Robot dynamics and model-based control
Рет қаралды 7,921
5 ай бұрынFeb 6 2024
@xxxy912 4 ай бұрын
Thank you very much! Greetings from Germany.
@LeoHoulston 3 ай бұрын
this is awesome
@mishas1653 3 ай бұрын
Thank you for the lecture. Can you briefly recap questions from the audience to the microphone?
@sucim 5 ай бұрын
Jason Statham teaching robotics was not on my 2024 bingo card
@khkgkgkjgkjh6647 5 ай бұрын
lmao
@user-lh5nz3jf5v 3 ай бұрын
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 3 ай бұрын
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 4 ай бұрын
Sir how can I access the python codes you used in the lecture can you provide the link. can't find it
@forheuristiclifeksh7836 3 ай бұрын
4:01
@maksym1640 5 ай бұрын
Where is lecture 2? Can you upload?
@rtedrake 4 ай бұрын
added to the playlist. (we had a covid day and then a snow day, so had to use prerecorded videos for those lecture)
@maksym1640 4 ай бұрын
@@rtedrake ok, thanks! You are awesome!
@junqingqiao8007 4 ай бұрын
Thanks a lot. It's a very good course but there is room for improvement for the camera.
@junqingqiao8007 4 ай бұрын
I can never see the whole black board.
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