Underactuated Robotics

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

Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2024 semester. Lecture videos are available on YouTube.

State Estimation

Unscented Kalman, Particle Filters. Largely defer to other texts, like probabilistic robotics. DART? Other point-cloud-based algorithms?

ISAM, ...