We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by model uncertainty on active passive degrees freedom. The generic iteration algorithm makes use learned data in both phase, based optimization, control where partial feedback linearization dofs...

This paper considers the government's initiative to change the teaching of literacy in primary schools in England. It draws on evidence from a one-year ESRC funded project that observed teaching in the first year of the NLS and a two-year follow-up study that revisited and re-interviewed several of the teachers from the original study. It proposes that, although substantial changes have been ma...