Stochastic Gradient Descent (Part II) 
Stochastic Gradient Descent (Part II)
by MIT / Russell Tedrake
Video Lecture 18 of 23
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Views: 1,351
Date Added: June 4, 2011

Lecture Description

This video lecture, part of the series Underactuated Robotics by Prof. Russell Tedrake, does not currently have a detailed description and video lecture title. If you have watched this lecture and know what it is about, particularly what Computer Science topics are discussed, please help us by commenting on this video with your suggested description and title. Many thanks from,

- The CosmoLearning Team

Course Index

Course Description

Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines.

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/approximate optimal control, and the influence of mechanical design on control. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.

Acknowledgements
Professor Tedrake would like to thank John Roberts for his help with the course and videotaping the lectures.

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