Underactuated Robotics
03Feb2015

22 Lessons 
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536 Students
Syllabus
1st lesson
Lesson 1
 Introduction

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2nd lesson
Lesson 2
 The Simple Pendulum

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3rd lesson
Lesson 3
 Optimal Control of the Double Integrator

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4th lesson
Lesson 4
 Numerical Optimal Control (Dynamic Programming)

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5th lesson
Lesson 5
 Acrobot and Cartpole

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6th lesson
Lesson 6
 Swingup Control of Acrobot and Cartpole Systems

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7th lesson
Lesson 7
 Dynamic Programming (DP) and Policy Search

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8th lesson
Lesson 8
 Trajectory Optimization

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9th lesson
Lesson 9
 Trajectory Stabilization and Iterative Linear Quadratic Regulator

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10th lesson
Lesson 10
 Walking

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11th lesson
Lesson 11
 Running

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12th lesson
Lesson 12
 Feasible Motion Planning

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13th lesson
Lesson 13
 Global Policies from Local Policies

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14th lesson
Lesson 14
 Introducing Stochastic Optimal Control

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15th lesson
Lesson 15
 Stochastic Gradient Descent

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16th lesson
Lesson 16
 Temporal Difference Learning

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17th lesson
Lesson 17
 Temporal Difference Learning with Function Approximation

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18th lesson
Lesson 18
 Policy Improvement

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19th lesson
Lesson 19
 Actorcritic Methods

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20th lesson
Lesson 20
 Case Studies in Computational Underactuated Control

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21st lesson
Exams
 Exams

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22nd lesson
Projects
 Projects

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