Trajectory Stabilization

MIT 6.8210: Underactuated Robotics

Spring 2023, Lecture 13

Follow live at https://slides.com/d/58Ls63M/live

(or later at https://slides.com/russtedrake/spring23-lec13)

Image credit: Boston Dynamics

Default playback at .25x

Scaling GCS

  • ~10k regions in 3D
     
  • GCS with 20k vertices and 400k edges.
     
  • Online planning takes 0.3s

by Tobia Marcucci in collaboration w/ Stephen Boyd

Lecture 13: Trajectory Stabilization

By russtedrake

Lecture 13: Trajectory Stabilization

MIT Underactuated Robotics Spring 2023 http://underactuated.csail.mit.edu

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