2.165: Robotics

Fall | Graduate | 12 Units | Prereq: 2.151 or permission of instructor

Introduction to robotics and learning in machines. Kinematics and dynamics of rigid body systems. Adaptive control, system identification, sparse representations. Force control, adaptive visual servoing. Task planning, teleoperation, imitation learning. Navigation. Underactuated systems, approximate optimization and control. Dynamics of learning and optimization in networks. Elements of biological planning and control. Motor primitives, entrainment, active sensing, binding models. Term projects. In person not required.