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ADVANCED ROBOTICS: MODERN MOTION PLANNING, ESTIMATION, AND CONTROL

ME 738
Course Description

Rigid body models of robots, constraints and contact, motion planning methods including sampling based, trajectory optimizations, state estimation algorithms including linear observers and filters, Kalman filters, optimization-based filters, feedback control methods including linear controls, Impedance Control, optimization-based controllers, Differential Dynamic Programming, Lyapunov Analysis and Design, and Underactuations. Knowledge of robotic systems [such asE C E/​M E  439andE C E/​M E  441] is strongly recommended.

Prerequisites

Graduate/professional standing

Satisfies

This course does not satisfy any prerequisites.

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Instructors (2026 Summr)

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