Lectures (Video)
- 1. Introduction
- 2. Spatial Descriptions
- 3. Spatial descriptions 2
- 4. Forward Kinematics 1
- 5. Forward Kinematics 2
- 6. Jacobians: Velocities
- 7. Jacobians: Explicit Form
- 8. Jacobians: Static Forces
- 9. Vision in Robotics
- 10. Inverse Kinematics, Trajectory generation
- 11. Dynamics: Acceleration and Inertia
- 12. Dynamics: Explicit Form
- 13. Control: PID control
- 14. Control: Joint space control
- 15. Control: Operational space control and Force control
- 16. Advanced Topics
Introduction to Robotics
Course Summary
This course is based on CS223A Introduction to Robotics made available by Stanford University: Stanford Engineering Everywhere under the Creative Commons Attribution 3.0 license.
This is a very interesting course on robotics taught by Prof. Oussama Khatib in Stanford. The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control. Topics include robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design.
Reading Material
1. Introduction to Robotics: Mechanics and ControlIntroduction to Robotics: Mechanics and Control, John J. Craig, Addison-Wesley Publishing Company, 3rd Edition, 2003
2. Robot Modeling and Control
Robot Modeling and Control, M. Spong, M. Vidyasagar, S. Hutchinson, Wiley & Sons, 2005
Course Material
Nao robot (Photo taken at Georgia Institute of Technology)
Image license: Creative Commons Attribution ShareAlike 3.0 (Wikimedia Commons)
Image license: Creative Commons Attribution ShareAlike 3.0 (Wikimedia Commons)
Other Resources
1. Fundamentals of Robotics: Linking Perception to ActionMin Xie, Fundamentals of Robotics: Linking Perception to Action, World Scientific, 2003.
(Click the button below to see a preview of the book)
2. A Mathematical Introduction to Robotic Manipulation
Richard M. Murray, Zexiang Li, S. Shankar Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994
(Click the button below to see a preview of the book)
3. Springer Handbook of Robotics
Bruno Siciliano, Oussama Khatib, Springer Handbook of Robotics, Springer, 2008
(Click the button below to see a preview of the book)
4. Robot Analysis and Control
Asada, H., and J. J. Slotine. Robot Analysis and Control. New York, NY: Wiley, 1986. ISBN: 9780471830290.
(Click the button below to see a preview of the book)
5. MIT lecture notes
Lecture notes from similar course at MIT Introduction to Robotics.
1. Introduction (pdf)
2. Actuators and Drive Systems (pdf)
3. Robot Mechanisms (pdf)
4. Planar Kinematics (pdf)
5. Differential Motion (pdf)
6. Statics (pdf)
7. Dynamics (pdf)
8. Force and Compliance Controls (pdf)
