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MIT 6.821: Underactuated Robotics

Spring 2024, Lecture 22

Follow live at https://slides.com/d/5oe04Is/live
(or later at https://slides.com/russtedrake/spring24-lec22)

Image credit: Boston Dynamics

Acrobot LQR w/ Kalman Estimator (from encoders)

True acrobot state