Courses

Introduction to Robotics (Stanford)

This is an introduction course to robotics which covers topics such as Spatial Descriptions, Forward Kinematics, Inverse Kinematics, Jacobians, Dynamics, Motion Planning and Trajectory Generation, Position and Force Control, and Manipulator Design.

Underactuated Robotics (MIT)

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

Various topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/approximate optimal control, and the influence of mechanical design on control.