############################# Education ############################# ******************************************* Robot dynamics - Spring semester ******************************************* .. image:: ../_images/education/articulatedSystem.png :width: 100% :align: center The course introduces dynamics of rigid articulated system, a system composed of multiple bodies and joints. We are mainly concerned with forward dynamics of articulated systems for simulation. The main tool of the course is recursive methods (ABA, CRBA and RNE) which are purely Newtonian formalism. But we will also briefly talk about other approaches (e.g., Lagrangian formalism). We will also study non-smooth dynamics of contacts. **Keywords:** Robot kinematics, whole-body control, Newton-Euler equation, inverse-dynamics control, Euler-Lagrange equation, project Newton-Euler equation, Composite rigid body algorithm, Recursive Newton Euler Algorithm, Articulated body algorithm ******************************************* Learning-based control - Fall semester ******************************************* .. only:: html .. raw:: html