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# Modern Robotics

### Overview

This course on Modern Robotics aims to teach students the foundations of robot motion, including concepts such as degrees of freedom, configuration space, rigid-body motions, kinematics, dynamics, motion planning, and control systems. Students will learn skills such as forward and inverse kinematics, trajectory planning, motion control, grasping, and manipulation. The course utilizes video lectures and readings from the textbook to explain theoretical concepts and practical applications. This course is intended for individuals interested in robotics, automation, mechanical engineering, or related fields who want to deepen their understanding of modern robotic systems and algorithms.

### 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.

### Taught by

Northwestern Robotics

## Reviews

5.0 rating, based on 1 Class Central review

Start your review of Modern Robotics

• Prashobdas Pv
Good presenetation and I learned about robotics great level .Iam beginner in robotics but now i know about modern robotics very welll

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