MCE551 Underactuated Robotics

[3–0, 3 cr.]

This course explores the nonlinear dynamics and control of underactuated mechanical systems, with a strong focus on computational approaches. Key topics include the complex behavior and nonlinear dynamics of robotic arms, optimal and robust control strategies, trajectory optimization, and motion planning. Real-world examples—from biology to applications like legged robots, soft manipulators, underwater vehicles, and aerial systems—will be used to illustrate the concepts.

Pre-requisites: ELE442 or MEE445