russtedrake PRO
Roboticist at MIT and TRI
Output Feedback
MIT 6.821: Underactuated Robotics
Spring 2024, Lecture 22
Follow live at https://slides.com/d/5oe04Is/live
(or later at https://slides.com/russtedrake/spring24-lec22)
Image credit: Boston Dynamics
Acrobot LQR w/ Kalman Estimator (from encoders)
True acrobot state
Estimator error \( (\hat{x} - x) \)
Lecture 22: Output feedback
By russtedrake
Lecture 22: Output feedback
MIT Underactuated Robotics Spring 2024 http://underactuated.csail.mit.edu
