MIT OpenCourseWare

Browse materialsMIT 6.832 · Spring 2009

Underactuated Robotics

Subject: Artificial Intelligence

Art: not stated, Fletcher's Combined Block Telegraph Apparatus and Bell, 1889 · Public domain

Instructor: Prof. Russell Tedrake
Term: Spring 2009
Level: Graduate
What's inside: 23 videos · 5 problem sets · 3 solutions · 1 reading · 46 other files · 5 web pages
Materials open: Videos here · files on MIT OCW

Other versions of this course

6.832 · Spring 2022 · On MIT OCW ↗
6.832 · Spring 2009 · Study here (this version)

Start here

Start course: Lecture 1: Introduction Find a topic

Progress is saved in this browser.

Export or import progress

About this course

Source: MIT OpenCourseWare 6.832 Underactuated Robotics, Spring 2009, Prof. Russell Tedrake — original course page on ocw.mit.edu ↗. License: CC BY-NC-SA 4.0. Study order: MIT's own listing order, section by section. Taken from MIT's published course files, downloaded from ocw.mit.edu on September 23, 2026. How RedLectern is built.

Materials are grouped the way MIT organized them. A verified, course-wide order has not been established here.

Has MIT solutions 3 files in this course are named by MIT as solutions.

Before you start

Prerequisites are not listed here. Check MIT's own syllabus for this course.

This course’s cited books, in our reading lists: Dynamic Programming and Optimal Control · Neuro-Dynamic Programming · Nonlinear Dynamics and Chaos: With Applications to Physics, Biology, Chemistry, and Engineering

How this course was organized

What's here, and what isn't

MIT's own materials here did not support a verified, course-wide order, so they are grouped by section instead.

Not included here

3 items from the source could not be safely included:

MIT's page format for this item wasn't recognized clearly enough to place it safely. (2 items)
Referenced in a table, but without MIT's own verified order, so it isn't used to claim a sequence.

Materials by section

Grouped by section, as MIT organized them. Not sequenced or ordered.

Readings

11 files

Assignments

18 files

Exams

Other materials from this course

23 video transcripts

23 images

MIT OpenCourseWare, Prof. Russell Tedrake, 6.832 Underactuated Robotics, Spring 2009.

License: CC BY-NC-SA 4.0 · Edition: Spring 2009 · Open the original course on OCW ↗

Organized by RedLectern, independent of MIT and not endorsed by MIT.

Per-resource rights are recorded on each resource; All-Rights-Reserved items are link-only, never mirrored.

Underactuated Robotics

Before you start

What's here, and what isn't

Not included here

Materials by section

Readings

Assignments

Exams

Other materials from this course

Lecture 1: Introduction

Lecture 2: The Simple Pendulum

Lecture 3: Optimal Control of the Double Integrator

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

Lecture 5: Numerical Optimal Control (Dynamic Programming)

Lecture 6: Acrobot and Cart-pole

Lecture 7: Swing-up Control of Acrobot and Cart-pole Systems

Lecture 8: Dynamic Programming (DP) and Policy Search

Lecture 9: Trajectory Optimization

Lecture 10: Trajectory Stabilization and Iterative Linear Quadratic Regulator

Lecture 11: Walking

Lecture 12: Walking (cont.)

Lecture 13: Running

Lecture 14: Feasible Motion Planning

Lecture 15: Global Policies from Local Policies

Lecture 16: Introducing Stochastic Optimal Control

Lecture 17: Stochastic Gradient Descent

Lecture 18: Stochastic Gradient Descent 2

Lecture 19: Temporal Difference Learning

Lecture 20: Temporal Difference Learning with Function Approximation

Lecture 21: Policy Improvement

Lecture 22: Actor-critic Methods

Lecture 23: Case Studies in Computational Underactuated Control