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University of Pennsylvania

Robotics: Kinematics and Mathematical Foundations

University of Pennsylvania via edX

This course may be unavailable.


Welcome to the first course in the Robotics MicroMasters series. This is an advanced course designed for learners who have a bachelor's degree in engineering or a similar field.

Learners will succeed in this course if they have familiarity with basic operations on matrices and vectors, as well as exposure to derivatives and partial derivatives.

The fundamental challenge this course addresses is how one can create robots that operate well in the real world.


Math Fundamentals
Week 1: Vector spaces, inner products, vector norms, orthogonality
Week 2: Linear transformations, matrix multiplication, matrix groups
Week 3: Coordinate transformations, rigid transformations, rotation matrices quaternions, Matrix groups SE(2) and SE(3)
Week 4: Project

Robot Kinematics
Week 5: Kinematic chains, forward kinematics,
Week 6: Inverse kinematics
Week 7: Parallel mechanisms
Week 8: Project

_ Kinematic Path Planning _
Week 9: Graph based methods, Dijkstra’s method, A*Star
Week 10: RRT, configuration space
Week 11: Artificial potential fields
Week 12: Project

Taught by

Camillo J. Taylor and Mark Yim


1.0 rating, based on 2 Class Central reviews

Start your review of Robotics: Kinematics and Mathematical Foundations

  • Anonymous
    Absolutely terrible. So, based on the simple (as it seems) prerequisites you hoped to jump into this one and learn some basics behind the advanced topic of robotics? Tough luck, buddy. I've managed to complete a first few weeks and the problems popp…
  • Robo123
    started looking at the lectures for this module, initial part on how to represent rotation etc was good, but second part on forward kinematics impossible to understand. Professor Yim draws all the axis on top of each other, loses his point a couple of times, very confusing - dropped it. It also seems that most videos were incorrect, as below a list of errata appears. I think to understand I will get a book instead, maybe Springer Handbook of Robotics seems good.

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