CS223A - Introduction to Robotics

CS223A: Introduction to Robotics (Stanford Univ.). Instructor: Professor Oussama Khatib. 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: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design. (from

Lecture 01 - An Overview of the Course
Lecture 02 - Walking Machines, Kinematics, Spatial Descriptions
Lecture 03 - Flexible Microactuators, Kinematics, Spatial Descriptions
Lecture 04 - The Hummingbird, Manipulator Kinematics, Link Description
Lecture 05 - Brachiation Robot, Frame Attachment, Forward Kinematics
Lecture 06 - Locomotion Gates with Polypod, Instantaneous Kinematics, Jacobians: Velocities
Lecture 07 - Beach Volleyball, Jacobians: Explicit Form
Lecture 08 - Mobile Robots: Automatic Parallel Parking, Kinematic Singularity, Jacobians: Static Forces
Lecture 09 - Guest lecturer: Gregory Hager - Perception, Sensing in Robotic Mobility and Manipulation
Lecture 10 - Guest Lecturer: Krasimir Kolarov - Trajectory Generation
Lecture 11 - Robotic Reconnaissance Team, Dynamics: Acceleration and Inertia
Lecture 12 - Space Rover, Dynamics: Explicit Form
Lecture 13 - Juggling Robot, Control: Overview, PID Control
Lecture 14 - A Finger-Shaped Tactile Sensor Using an Optical Waveguide, Control: Joint Space Control
Lecture 15 - On the Run, Control: Operational Space Control and Force Control
Lecture 16 - Advanced Topics: Compliance, Force Control, Dynamics, Historical Robotics

CS223A - Introduction to Robotics
Instructors: Professor Oussama Khatib. Handouts. Assignments. Exams. This course introduces basics of modeling, design, planning, and control of robot systems.