---
# System prepended metadata

title: 'Lecture 01 : Why Study Dynamics ?'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# Lecture 01 : Why Study Dynamics ?

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture 1 of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/_1CtAHVea8I)

# Table of Contents

[TOC]

## Topics covered 
* Fully-actuated vs Underactuated Systems
* Feedback Equivalence
* Manipulator Equations
* Input and State Constraints
    * Nonholonomic constraints

## Notes
![](https://i.imgur.com/mfOJUsz.jpg)
![](https://i.imgur.com/Q5RmgCj.jpg)

