Underactuated Robotics

Algorithms for Walking, Running, Swimming, Flying, and Manipulation

Russ Tedrake

© Russ Tedrake, 2022
Last modified .
How to cite these notes, use annotations, and give feedback.

Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2022 semester. Lecture videos are available on YouTube.

Previous Chapter Table of contents


How to cite these notes

Thank you for citing these notes in your work. Please use the following citation:

Russ Tedrake. Underactuated Robotics: Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course Notes for MIT 6.832). Downloaded on [date] from http://underactuated.mit.edu/

  title        = "Underactuated Robotics",
  subtitle     = "Algorithms for Walking, Running, Swimming, Flying, and Manipulation",
  howpublished = "Course Notes for MIT 6.832",
  author       = "Tedrake, Russ",
  year         = 2022,
  url          = "http://underactuated.mit.edu",

Annotation tool etiquette

My primary goal for the annotation tool is to host a completely open dialogue on the intellectual content of the text. However, it has turned out to serve an additional purpose: it's a convenient way to point out my miscellaneous typos and grammatical blips. The only problem is that if you highlight a typo, and I fix it 10 minutes later, your highlight will persist forevermore. Ultimately this pollutes the annotation content.

There are two possible solutions: Ideally, once I mark a comment as "done", I would appreciate it if you can delete that comment.

I highly value both the discussions and the corrections. Please keep them coming, and thank you!

Some great final projects

Each semester students put together a final project using the tools from this class. Many of them are fantastic! Here is a small sample.

Spring 2022:

Spring 2021:

Spring 2020:

Even before we started posting project presentations on YouTube, some great projects from class have turned into full publications. Here are a few examples:

Please give me feedback!

I'm very interested in your feedback. The annotation tool is one mechanism, but you can also comment directly on the YouTube lectures, or even add issues to the github repo that hosts these course notes.

I've also created this simple survey to collect your general comments/feedback.

Previous Chapter Table of contents