Chapter 2: Robot Dynamics

2 Robot Dynamics

In the field of controlling and training of autonomous stuff, there are three popular ways

reinforcement learning (in quadrupeds)
imitation learning (in manipulation robots)
mechanics optimization (as in ATLAS)

Definition 2.1.1 (Underactuated and Fully-Actuated).

The equation in

(†)

is said to be fully actuated iff

𝐟_{2}

is of full row rank, or if the

rank 𝐟 = dim 𝐪

(since

dim 𝐪

is the number of rows of

𝐟_{2}

). If instead

rank 𝐟_{2} < dim 𝐪,

the system is then said to be underactuated.

Definition 2.1.

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𝐻 𝑖 Part 2 Part 2 Part 2 fails (2.1)

2
what

Part 2 $Part 2 Part 2$ (2.1) $(2.1) (2.1)$