Underactuated Robotics

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

Russ Tedrake

© Russ Tedrake, 2020
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Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2020 semester. Lecture videos are available on YouTube.

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System Identification

Equation Error vs Simulation Error

Linear State-Space Models

From state observations

model-order reduction

From input-output data

Ho-Kalman Subspace identification

Adding stability constraints

Linear ARMAX Models

PWA / Hybrid System ID

Nonlinear System Identification

Neural Nets / Intuitive physics / etc. MMT / Jack's work

Parameter Identification for Mechanical Systems

Optimal Experiment Design

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