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Modern Robotics

Northwestern University via YouTube

Syllabus

Modern Robotics: Introduction to the Lightboard.
Modern Robotics Videos Acknowledgments (Kevin Lynch).
Modern Robotics, Chapters 2 and 3: Foundations of Robot Motion.
Modern Robotics, Chapter 2.1: Degrees of Freedom of a Rigid Body.
Modern Robotics, Chapter 2.2: Degrees of Freedom of a Robot.
Modern Robotics, Chapter 2.3.1: Configuration Space Topology.
Modern Robotics, Chapter 2.3.2: Configuration Space Representation.
Modern Robotics, Chapter 2.4: Configuration and Velocity Constraints.
Modern Robotics, Chapter 2.5: Task Space and Workspace.
Modern Robotics, Chapter 3: Introduction to Rigid-Body Motions.
Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 1 of 2).
Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 2 of 2).
Modern Robotics, Chapter 3.2.2: Angular Velocities.
Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2).
Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 2 of 2).
Modern Robotics, Chapter 3.3.1: Homogeneous Transformation Matrices.
Modern Robotics, Chapter 3.3.2: Twists (Part 1 of 2).
Modern Robotics, Chapter 3.3.2: Twists (Part 2 of 2).
Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion.
Modern Robotics, Chapter 3.4: Wrenches.
Modern Robotics, Chapter 4.1.1: Product of Exponentials Formula in the Space Frame.
Modern Robotics, Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame.
Modern Robotics, Chapter 4: Forward Kinematics Example.
Modern Robotics, Chapter 5: Velocity Kinematics and Statics.
Modern Robotics, Chapter 5.1.1: Space Jacobian.
Modern Robotics, Chapter 5.1.2: Body Jacobian.
Modern Robotics, Chapter 5.2: Statics of Open Chains.
Modern Robotics, Chapter 5.3: Singularities.
Modern Robotics, Chapter 5.4: Manipulability.
Modern Robotics, Chapter 6: Inverse Kinematics of Open Chains.
Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2).
Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 2 of 2).
Modern Robotics, Chapter 7: Kinematics of Closed Chains.
Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2).
Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2).
Modern Robotics, Chapter 8.1.3: Understanding the Mass Matrix.
Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2).
Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2).
Modern Robotics, Chapter 8.3: Newton-Euler Inverse Dynamics.
Modern Robotics, Chapter 8.5: Forward Dynamics of Open Chains.
Modern Robotics, Chapter 8.6: Dynamics in the Task Space.
Modern Robotics, Chapter 8.7: Constrained Dynamics.
Modern Robotics, Chapter 8.9: Actuation, Gearing, and Friction.
Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 1 of 2).
Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 2 of 2).
Modern Robotics, Chapter 9.3: Polynomial Via Point Trajectories.
Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 1 of 3).
Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 2 of 3).
Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 3 of 3).
Modern Robotics, Chapter 10.1: Overview of Motion Planning.
Modern Robotics, Chapter 10.2: C-Space Obstacles.
Modern Robotics, Chapter 10.2.3: Graphs and Trees.
Modern Robotics, Chapter 10.2.4: Graph Search.
Modern Robotics, Chapter 10.3: Complete Path Planners.
Modern Robotics, Chapter 10.4: Grid Methods for Motion Planning.
Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2).
Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 2 of 2).
Modern Robotics, Chapter 10.6: Virtual Potential Fields.
Modern Robotics, Chapter 10.7: Nonlinear Optimization.
Modern Robotics, Chapter 11.1: Control System Overview.
Modern Robotics, Chapter 11.2.1: Error Response.
Modern Robotics, Chapter 11.2.2: Linear Error Dynamics.
Modern Robotics, Chapter 11.2.2.1: First-Order Error Dynamics.
Modern Robotics, Chapter 11.2.2.2: Second-Order Error Dynamics.
Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 1 of 3).
Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 2 of 3).
Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3).
Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 1 of 3).
Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 2 of 3).
Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3).
Modern Robotics, Chapter 11.5: Force Control.
Modern Robotics, Chapter 11.6: Hybrid Motion-Force Control.
Modern Robotics, Chapter 12: Grasping and Manipulation.
Modern Robotics, Chapter 12.1.1: First-Order Analysis of a Single Contact.
Modern Robotics, Chapter 12.1.2: Contact Types: Rolling, Sliding, and Breaking.
Modern Robotics, Chapter 12.1.3: Multiple Contacts.
Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 1 of 2).
Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 2 of 2).
Modern Robotics, Chapter 12.1.7: Form Closure.
Modern Robotics, Chapter 12.2.1: Friction.
Modern Robotics, Chapter 12.2.2: Planar Graphical Methods.
Modern Robotics, Chapter 12.2.3: Force Closure.
Modern Robotics, Chapter 12.2.4: Duality of Force and Motion Freedoms.
Modern Robotics, Chapter 12.3: Manipulation and the Meter-Stick Trick.
Modern Robotics, Chapter 12.3: Transport of an Assembly.
Modern Robotics, Chapter 13.1: Wheeled Mobile Robots.
Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2).
Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2).
Modern Robotics, Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots.
Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4).
Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 2 of 4).
Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 3 of 4).
Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 4 of 4).
Modern Robotics, Chapter 13.3.3: Motion Planning for Nonholonomic Mobile Robots.
Modern Robotics, Chapter 13.3.4: Feedback Control for Nonholonomic Mobile Robots.
Modern Robotics, Chapter 13.4: Odometry.
Modern Robotics, Chapter 13.5: Mobile Manipulation.

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Northwestern Robotics

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