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<!DOCTYPE html>
<html>
<head>
<title>Ch. 25 - Miscellaneous</title>
<meta name="Ch. 25 - Miscellaneous" content="text/html; charset=utf-8;" />
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<header>
<h1><a href="index.html" style="text-decoration:none;">Underactuated Robotics</a></h1>
<p data-type="subtitle">Algorithms for Walking, Running, Swimming, Flying, and Manipulation</p>
<p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
<p style="font-size: 14px; text-align: right;">
© Russ Tedrake, 2022<br/>
Last modified <span id="last_modified"></span>.</br>
<script>
var d = new Date(document.lastModified);
document.getElementById("last_modified").innerHTML = d.getFullYear() + "-" + (d.getMonth()+1) + "-" + d.getDate();</script>
<a href="misc.html">How to cite these notes, use annotations, and give feedback.</a><br/>
</p>
</header>
</div>
<p><b>Note:</b> These are working notes used for <a
href="http://underactuated.csail.mit.edu/Spring2022/">a course being taught
at MIT</a>. They will be updated throughout the Spring 2022 semester. <a
href="https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg">Lecture videos are available on YouTube</a>.</p>
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<chapter class="appendix" style="counter-reset: chapter 4"><h1>Miscellaneous</h1>
<section id="cite"><h1>How to cite these notes</h1>
<p>Thank you for citing these notes in your work. Please use the following
citation:</p>
<p style="text-align:left">Russ Tedrake. <em>Underactuated Robotics:
Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course
Notes for MIT 6.832).</em> Downloaded on [date] from
http://underactuated.mit.edu/</p>
<pre><code class="language-bibtex">@book{underactuated,
title = "Underactuated Robotics",
subtitle = "Algorithms for Walking, Running, Swimming, Flying, and Manipulation",
howpublished = "Course Notes for MIT 6.832",
author = "Tedrake, Russ",
year = 2022,
url = "http://underactuated.mit.edu",
}</code></pre>
</section>
<section id="annotation"><h1>Annotation tool etiquette</h1>
<p>My primary goal for the annotation tool is to host a completely open
dialogue on the intellectual content of the text. However, it has turned out
to serve an additional purpose: it's a convenient way to point out my
miscellaneous typos and grammatical blips. The only problem is that if you
highlight a typo, and I fix it 10 minutes later, your highlight will persist
forevermore. Ultimately this pollutes the annotation content.</p>
<div>There are two possible solutions: <ul><li>you can make a public editorial comment, but must promise to delete that comment once it has been addressed.</li><li>You can <a href="https://hypothes.is/groups/Gn2rm56b/editorial">join my "editorial" group</a> and post your editorial comments <a href="https://web.hypothes.is/help/annotating-with-groups/#how-to-add-annotations-to-a-group">using this group "scope"</a>.</li></ul>
Ideally, once I mark a comment as "done", I would appreciate it if you can delete that comment.
</div>
<p>
I highly value both the discussions and the corrections. Please keep them coming, and thank you!
</p>
</section>
<section id="projects"><h1>Some great final projects</h1>
<p>Each semester students put together a final project using the tools from this class. Many of them are fantastic! Here is a small sample.</p>
<p><b>Spring 2020:</b>
<ul>
<li><a href="https://www.youtube.com/watch?v=U9jL_oSgqT4">Collision Free
Mixed Integer Planning for Quadrotors Using Convex Safe Regions</a> by
Bernhard Paus Græsdal</li>
<li><a href="https://www.youtube.com/watch?v=q2j53m65DKU">Pancake
flipping via trajectory optimization</a> by Charles Dawson</li>
<li><a href="https://www.youtube.com/watch?v=vHDRsluVhkE">Dynamic
Soaring</a> by Lukas Lao Beyer</li>
<li><a href="https://www.youtube.com/watch?v=jarnKJztZEw">Acrobatic
Humanoid</a> by Matt Chignoli and AJ Miller</li>
<li><a href="https://www.youtube.com/watch?v=GKs2w78fUEY">Trajectory
Optimization for the Furuta Pendulum</a> by Samuel Cherna and Philip
Murzynowski</li>
</ul>
</p>
<p>Even before we started posting project presentations on YouTube, some great projects from class have turned into full publications. Here are a few examples:
<ul>
<li><a href="https://arxiv.org/abs/1611.08268">Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics</a> </li>
<li><a href="https://openreview.net/forum?id=rklHqRVKvH">Harnessing Structures for Value-Based Planning and Reinforcement Learning</a></li>
<li>The famous Mini Cheetah backflip in <a href="https://ieeexplore.ieee.org/abstract/document/8793865">Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control</a> started as an <a href="https://news.mit.edu/2021/cheetah-noids-humanoids-benjamin-katz-1214">underactuated project</a>.</li>
</ul>
</p>
</section>
<section id="feedback"><h1>Please give me feedback!</h1>
<p>I'm very interested in your feedback. The annotation tool is one
mechanism, but you can also comment directly on the YouTube lectures, or even
add issues to the <a
href="https://github.com/RussTedrake/underactuated">github repo</a> that
hosts these course notes.</p>
<p>I've also created <a target="_blank" href="https://docs.google.com/forms/d/e/1FAIpQLSesAhROfLRfexrRFebHWLtRpjhqtb8k_iEagWMkvc7xau08iQ/viewform?usp=sf_link">
this simple survey</a> to collect your general comments/feedback.</p>
</section>
</chapter>
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