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Our teaching ranges from robotics fundamentals to specialized topics in legged locomotion. These courses form part of the Robotics Institute graduate programs, offering students foundational and advanced knowledge for careers in robotics research and industry.
16-711: Kinematics, Dynamic Systems, and Control
16-711: Kinematics, Dynamic Systems, and Control
Spring semester | 12 units (Thinking about Action Core Curriculum)
This graduate-level introductory course covers fundamental concepts and methods for analyzing, modeling and controlling robot mechanisms. Students learn rigid body kinematics using screw theory, derive manipulator dynamics through Lagrangian mechanics, and apply classical and modern control strategies. The course prepares students for advanced studies in robot design, control and learning, as well as for engineering careers requiring modeling and control expertise. Assessment combines theoretical problems with coding challenges.
16-703: Fundamentals of Control
16-703: Fundamentals of Control
Spring semester | 6 units, mini-course (Thinking about Action Core Curriculum)
This mini-course provides an introduction to control fundamentals. Students gain understanding of core concepts in control (LTI systems, feedback control, PID), estimation (Kalman filters), and optimization (LQR, MPC). The course develops foundational knowledge for further self-study and collaboration with control experts. Three assignments combine practical implementation problems with reviews of research literature from different robotics domains.
16-868: Legged Systems
16-868: Legged Systems
Fall semester | 12 units (Elective)
This advanced graduate course introduces legged systems with a focus on bipeds. Drawing from engineering, biomechanics and neuroscience, students learn to model, analyze and control legged locomotion in systems ranging from humans to humanoids, powered lower-limb prostheses, and exoskeletons. The course progresses from fundamental gait models through body articulation to application domains. The knowledge and skills gained will prepare students for advanced research in legged mobility or for a related role in industry. Assessment includes assignments combining theory and coding challenges, and a final project addressing a student-chosen legged mobility problem.
16-665: Robot Mobility on Air, Land, & Sea
16-665: Robot Mobility on Air, Land, & Sea
Fall semester | Legged mobility module (MRSD program)
As part of the Master of Robotics Systems Development program, this course introduces robot mobility across terrestrial, aerial, and aquatic environments. Students learn fundamentals of robot mobility and review the state of the art in modeling, control and navigation of ground-based (wheeled and legged), air-based (rotorcraft), and water-based robots. We contribute the legged mobility module to this course.
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