Underactuated Robotics theory. Optimal control. First steps

With initial experience and basic level of knowledge of the dynamics and stability, we will try to take the first steps of an elementary virtual robot. Robot, which took in account own dynamics, and, if possible, use it to good use.

But before proceed to apply existing knowledge, I will try to expand the list of theories to help us in the way of understanding the dynamics of walking robots.

In additional, here we will try addressing some of the real conditions to be encountered during implementation of mathematical model in real world.

Underactuated Robotics theory, Preparing for first step

The most robotics enthusiasts lack the necessary theoretical knowledge. The lack of this knowledge mainly argumented by the complexity of these theories.

It is for reason that enthusiasm is not supported by the knowledge of theory the result work looks like a child's play. Huge efforts and waste of time, most of the initiatives ends regular structure, similar to hundreds of other similar structures and does not have any different.

I would like to start a series of articles that demonstrate the possibility of studying the necessary theories at the own example. A month ago, I began to study the subject "Under-actuated robotics", presented by the Massachusetts Institute of Technology and is open to the public (MIT, Underactuated Robotics, OpenCourceWare).