[philzook]

I'm not sure I've seen this one before. Are you thinking of Tedrake's other course and textbook on underactuated robotics here http://underactuated.csail.mit.edu/ ? I loved that one. Taught me a ton.

[cbames89]

woah, you're totally right. My bad. I just remembered him talking about manipulation as under-actuated problem. thanks for the catch.