Robotic Control
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PD Control, Control Partitioning, Motion Control, Disturbance Rejection, Steady-State Error, PID Control, Effective Inertia
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Control - Overview, Joint Space Control, Resolved Motion Rate Control, Natural Systems, Dissipative Systems, Example, Passive System Stability
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Stochastic Model Predictive Control, Causal State-Feedback Control, Stochastic Finite Horizon Control, 'Solution' Via Dynamic Programming, Independent Process Noise, Linear Quadratic Stochastic Control, Certainty Equivalent Model Predictive Control, Stochastic MPC: Sample Trajectory, Cost Histogram, Simple Lower Bound For Quadratic Stochastic Control, Branch And Bound Methods,...more
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Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking
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Model Predictive Control, Linear Time-Invariant Convex Optimal Control, Greedy Control, 'Solution' Via Dynamic Programming, Linear Quadratic Regulator, Finite Horizon Approximation, Cost Versus Horizon, Trajectories, Model Predictive Control (MPC), MPC Performance Versus Horizon, MPC Trajectories, Variations On MPC, Explicit MPC, MPC Problem Structure, Fast MPC, Supply Chain Management,...more
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This course provides a broad introduction to machine learning and statistical pattern recognition. Topics include: supervised learning (generative/discriminative learning, parametric/non-parametric learning, neural networks, support vector machines); unsupervised learning (clustering, dimensionality reduction, kernel methods); learning theory (bias/variance tradeoffs; VC theory; large margins);
Compliance, Force Control, Dynamics, Task Description, Historical Robotics, Stanford Human-Safe Robot, Task Posture and Control, Multi-Contact Whole-Body Control
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Yock discusses the future of minimally invasive robotic surgery. He says it is very exciting and Stanford actually has a lot of expertise in this area.
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Decomposition Applications, Rate Control Setup, Rate Control Problem, Rate Control Lagrangian, Aside: Utility Functions, Rate Control Dual, Dual Decomposition Rate Control Algorithm, Generating Feasible Flows, Convergence Of Primal And Dual Objectives, Maximum Capacity Violation, Single Commodity Network Flow Setup, Network Flow Problem, Network Flow Lagrangian, Network Flow Dual,...more
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Jung talks about one of the biggest challenges in the growth phase of a startup. Releasing and disseminating control is very essential for scaling companies. He explains this fact in detail and illustrates its importance from his personal experience.
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Course Overview, History of Robotics Video, Robotics Applications, Related Stanford Robotics Courses, Lecture and Reading Schedule, Manipulator Kinematics, Manipulator Dynamics, Manipulator Control, Manipulator Force Control, Advanced Topics
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Prior to the Demographic Transition, fertility in northwestern Europe was controlled by limiting marriage. Marriage was regulated by landowners and the churches, and was not allowed unless a man had accumulated the resources necessary to support a family. Long periods of being landless, a servant, or an apprentice, precluded marriage. Once married, there was no control of fertility....more
