Underactuated Robotics</a></h1>
    <p data-type="subtitle">Algorithms for Walking, Running, Swimming, Flying, and Manipulation</p> 
    <p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
    <p style="font-size: 14px; text-align: right;"> 
      &copy; Russ Tedrake, 2021<br/>
      <a href="tocite.html">How to cite these notes</a><br/>
    </p>
  </header>
</div>

<p><b>Note:</b> These are working notes used for <a
href="https://underactuated.csail.mit.edu/Spring2