I've been working as an RA with Prof. Josh Smith at UW on a control system for underactuated robotics, i.e. robots that don't have a motor in every joint. The robot I work on is known as the acrobot, and is a two-segment arm with a powered elbow joint. The goal is to have it stand up and balance on a knife edge. This is a challenge because it has to be balanced by controlling just the elbow joint, and the equations of motion for the acrobot are far from simple. My research has been to apply instance-based learning, a type of machine learning, to the acrobot.