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