RussTedrake/underactuated
The course text for MIT 6.832 (and 6.832x on edX)
What it solves
It provides the algorithmic foundations for controlling robots that are "underactuated"—meaning they have fewer control inputs than they have degrees of freedom. This is essential for dynamic movements like walking, running, swimming, and flying.
How it works
The software serves as a companion to a textbook and MIT course (6.832), implementing the algorithms and examples used to teach the robot control theory and dynamics necessary for these complex physical movements.
Who it’s for
Researchers and students of robotics and control theory who are studying the dynamics of underactuated systems.
Highlights
- Companion software for the textbook "Underactuated Robotics".
- Focuses on algorithms for walking, running, swimming, and flying.
- Supports the study of manipulation and underactuated control.
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