Miscellaneous

How to cite these notes

Thank you for citing these notes in your work. Please use the following citation:

Russ Tedrake. Underactuated Robotics: Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course Notes for MIT 6.832). Downloaded on [date] from http://underactuated.mit.edu/

Annotation tool etiquette

My primary goal for the annotation tool is to host a completely open dialogue on the intellectual content of the text. However, it has turned out to serve an additional purpose: it's a convenient way to point out my miscellaneous typos and grammatical blips. The only problem is that if you highlight a typo, and I fix it 10 minutes later, your highlight will persist forevermore. Ultimately this pollutes the annotation content.

There are two possible solutions:

you can make a public editorial comment, but must promise to delete that comment once it has been addressed.
You can join my "editorial" group and post your editorial comments using this group "scope".

Ideally, once I mark a comment as "done", I would appreciate it if you can delete that comment.

I highly value both the discussions and the corrections. Please keep them coming, and thank you!

Some great final projects

Each semester students put together a final project using the tools from this class. Many of them are fantastic! Here is a small sample.

Spring 2020:

Collision Free Mixed Integer Planning for Quadrotors Using Convex Safe Regions by Bernhard Paus Græsdal
Pancake flipping via trajectory optimization by Charles Dawson
Dynamic Soaring by Lukas Lao Beyer
Acrobatic Humanoid by Matt Chignoli and AJ Miller
Trajectory Optimization for the Furuta Pendulum by Samuel Cherna and Philip Murzynowski

Even before we started posting project presentations on YouTube, some great projects from class have turned into full publications. Here are a few examples:

Please give me feedback!

I'm very interested in your feedback. The annotation tool is one mechanism, but you can also comment directly on the YouTube lectures, or even add issues to the github repo that hosts these course notes.

I've also created this simple survey to collect your general comments/feedback.