This course is designed to introduce students to a variety of optimization algorithms for designing and controlling dynamic motions in nonlinear dynamical systems such as walking, manipulating, and flying robots. Theoretical and algorithmic topics will include optimal control foundations, trajectory optimization, nonlinear programming, trajectory stabilization, model-predictive control, Lyapunov analysis, reinforcement learning & policy search, and applications of convex optimization to control and stability analysis. We will consider these topics in the context of a variety of...