Skip to content
Switch branches/tags
Go to file


Failed to load latest commit information.
Latest commit message
Commit time
Jan 28, 2021
Mar 6, 2021
Jan 28, 2021
Jan 28, 2021
Mar 6, 2021
Jan 28, 2021
Jan 28, 2021

Underactuated Robotics

Algorithms for Walking, Running, Swimming, Flying, and Manipulation

Binder CI Docker Build

Follow the installation instructions in

To view the text locally

Make sure to initialize the submodules:

git submodule update --init --recursive

The textbook should then be viewable by opening underactuated.html in your browser.

You'll need to run a local webserver for the code includes (via ajax) to work. I used the instructions at and just pointed by root doc directory directly at my underactuated checkout.

Boilerplate on etiquette: For typos and small corrections, please remove your comment once it has been addressed.

To run the linters and unit tests

bazel test //...

If you would like to bazel to use a local installation of drake, you can set the DRAKE_INSTALL_DIR environment variable. Otherwise it will look in /opt/drake.

To get experimental Drake binaries

Please see the relevant Drake documentation.

Additional information for Docker Hub users

Supported tags and respective Dockerfile links

Quick reference


View license information for the software contained in this image.

As with all Docker images, these likely also contain other software which may be under other licenses (such as Bash, etc from the base distribution, along with any direct or indirect dependencies of the primary software being contained).

As for any pre-built image usage, it is the image user's responsibility to ensure that any use of this image complies with any relevant licenses for all software contained within.


The course text for MIT 6.832 (and 6.832x on edX)




No releases published


No packages published