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Video of Lecture 6 MIT 6.832 (Underactuated Robotics), Spring 2020 Acrobots, Cart-Poles, and Quadrotors 2 in Under-actuated Robotics course by underactuated channel, video No. 5 free certified online
For more about the course see the website: http://underactuated.csail.mit.edu/Spring2020/