Teaching
“If you're teaching a class, you can think about the elementary things that you know very well.
These things are kind of fun and delightful. It doesn't do any harm to think them over again.”
—Richard Feynman
—Richard Feynman
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Teaching Assistant: Advanced System Dynamics and Control (2.151)
Advanced System Dynamics and Control (2.151) This lecture shows how to use state space methods for physical system modeling, analysis, and control. The key questions are centered around system stability (will the system stay where I put it?), controllability (can I affect all of its relevant behavior?), and observability (can I monitor all of i... Read More
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Teaching Assistant: Neural Control of Movement (2.184)
Neural Control of Movement (2.184) The central questions of this lecture is how humans control and coordinate their movement. How does the brain control behavior? What is controlled? Motion? Force? Something else? We want to investigate the question, how much of our behavior and coordination is due to the brain and how much is due to biomechani... Read More
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Tutorial: Introduction to Differential Geometry for Roboticists
Introduction to Differential Geometry for Roboticists This nine-part tutorial series titled “Introduction to Differential Geometry for Roboticists” covers the geometric foundations to describe robot kinematics and dynamics as elements of differentiable manifolds. Here is a brief content overview: Acknowledgements Thanks to all participants... Read More