Learn · Underactuated Robotics

Lecture 4 of 23Video Lectures1 h 25 min

Lecture 4: Optimal Control of the Double Integrator (cont.)

Prof. Russell Tedrake · Massachusetts Institute of Technology

At MIT OpenCourseWare Transcript

Credits and licence

From
Underactuated Robotics, Massachusetts Institute of Technology (at MIT OpenCourseWare)
Licence
CC BY-NC-SA 4.0, as MIT OpenCourseWare states it. Non-commercial use only.
Attribution
Prof. Russell Tedrake. Underactuated Robotics. Spring 2009. Massachusetts Institute of Technology: MIT OpenCourseWare, https://ocw.mit.edu/. License: Creative Commons BY-NC-SA.
Who can watch
Tweens profiles and older. How courses are placed

All the lectures

  1. Lecture 1: Introduction 1 h 15 min · Video
  2. Lecture 2: The Simple Pendulum 1 h 9 min · Video
  3. Lecture 3: Optimal Control of the Double Integrator 1 h 17 min · Video
  4. Lecture 4: Optimal Control of the Double Integrator (cont.) 1 h 25 min · Video
  5. Lecture 5: Numerical Optimal Control (Dynamic Programming) 1 h 13 min · Video
  6. Lecture 6: Acrobot and Cart-pole 1 h 21 min · Video
  7. Lecture 7: Swing-up Control of Acrobot and Cart-pole Systems 1 h 6 min · Video
  8. Lecture 8: Dynamic Programming (DP) and Policy Search 1 h 14 min · Video
  9. Lecture 9: Trajectory Optimization 1 h 10 min · Video
  10. Lecture 10: Trajectory Stabilization and Iterative Linear Quadratic Regulator 1 h 20 min · Video
  11. Lecture 11: Walking 1 h 16 min · Video
  12. Lecture 12: Walking (cont.) 1 h 12 min · Video
  13. Lecture 13: Running 58 min · Video
  14. Lecture 14: Feasible Motion Planning 1 h 14 min · Video
  15. Lecture 15: Global Policies from Local Policies 1 h 19 min · Video
  16. Lecture 16: Introducing Stochastic Optimal Control 1 h 24 min · Video
  17. Lecture 17: Stochastic Gradient Descent 1 h 17 min · Video
  18. Lecture 18: Stochastic Gradient Descent 2 1 h 19 min · Video
  19. Lecture 19: Temporal Difference Learning 1 h 20 min · Video
  20. Lecture 20: Temporal Difference Learning with Function Approximation 1 h 18 min · Video
  21. Lecture 21: Policy Improvement 1 h 16 min · Video
  22. Lecture 22: Actor-critic Methods 1 h 11 min · Video
  23. Lecture 23: Case Studies in Computational Underactuated Control 1 h 3 min · Video