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!
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)
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. ruclips.net/video/v04rn86Dehg/видео.html .
@@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
Thank you very much! Greetings from Germany.
Thank you for the lecture. Can you briefly recap questions from the audience to the microphone?
Jason Statham teaching robotics was not on my 2024 bingo card
lmao
Thanks to whoever decided to upload this.
this is awesome
Sir how can I access the python codes you used in the lecture can you provide the link. can't find it
4:01
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!
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)
Is there a pre-requisit course for this one? Because I have hard time understanding some terms and concepts?
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. ruclips.net/video/v04rn86Dehg/видео.html .
@@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
Where is lecture 2? Can you upload?
added to the playlist. (we had a covid day and then a snow day, so had to use prerecorded videos for those lecture)
@@rtedrake ok, thanks!
You are awesome!
Thanks a lot. It's a very good course but there is room for improvement for the camera.
I can never see the whole black board.