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CourseCS223A16 lectures

Introduction to Robotics

Oussama Khatib · Stanford University

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About

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.

The course is presented in a standard format of lectures, readings and problem sets. There will be an in-class midterm and final examination. These examinations will be open book. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes book. Lectures will follow roughly the same sequence as the material presented in the book, so it can be read in anticipation of the lectures

Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design.

Prerequisites: matrix algebra.

Lectures

  1. Course Overview, History of Robotics Video, Robotics Applications, Related Stanford Robotics Courses, Lecture and Reading Schedule, Manipulator Kinematics, Manipulator Dynamics, Manipulator Control, Manipulator Force Control, Advanced… Lecture 1 · Video
  2. Spatial Descriptions, Generalized Coordinates, Operational Coordinates, Rotation Matrix, Example - Rotation Matrix, Translations, Example - Homogeneous Transform, Operators, General Operators Video clip “GH Walking Machines: Passive… Lecture 2 · 1 h 8 min · Video
  3. Homogeneous Transform Interpretations, Compound Transformations, Spatial Descriptions, Rotation Representations, Euler Angles, Fixed Angles, Example - Singularities, Euler Parameters, Example - Rotations Video clip “Flexible… Lecture 3 · 1 h 17 min · Video
  4. Manipulator Kinematics, Link Description, Link Connections, Denavit-Hartenberg Parameteres, Summary - DH Parameters, Example - DH Table, Forward Kinematics Video clip “The Hummingbird,” IBM Watson Research Center, ICRA 1992 Video… Lecture 4 · 1 h 12 min · Video
  5. Summary - Frame Attachment, Example - RPRR Manipulator, Stanford Scheinman Arm, Stanford Scheinman Arm - DH Table, Forward Kinematics, Stanford Scheinman Arm - T-Matrices, Stanford Scheinman Arm - Final Results Video clip “Brachiation… Lecture 5 · 1 h 7 min · Video
  6. Instantaneous Kinematics, Jacobian, Jacobians - Direct Differentiation, Example 1, Scheinman Arm, Basic Jacobian, Position Representations, Cross Product Operator, Velocity Propagation, Example 2 Video clip “Locomation Gates with… Lecture 6 · 1 h 11 min · Video
  7. Jacobian - Explicit Form, Jacobian Jv / Jw, Jacobian in a Frame, Jacobian in Frame {0}, Scheinman Arm, Scheinman Arm - Jacobian, Kinematic Singularity Video clip “Beach Volleyball,” Toshiba, ICRA 1999 Video Proceedings courtesy IEEE (©… Lecture 7 · 1 h 9 min · Video
  8. Scheinman Arm - Demo, Kinematic Singularity, Example - Kinematic Singularity, Puma Simulation, Resolved Rate Motion Control, Angular/Linear - Velocities/Forces, Velocity/Force Duality, Virtual Work, Example Video clip “Mobile Robots:… Lecture 8 · 1 h 15 min · Video
  9. Intro - Guest Lecturer: Gregory Hager, Overview - Computer Vision, Computational Stereo, Stereo-Based Reconstruction, Disparity Maps, SIFT Feature Selection, Tracking Cycle, Face Stabilization Video, Future Challenges Lecture 9 · 1 h 16 min · Video
  10. Guest Lecturer: Krasimir Kolarov, Trajectory Generation - Basic Problem, Cartesian Planning, Cubic Polynomial, Finding Via Point Velocities, Linear Interpolation, Higher Order Polynomials, Trajectory Planning with Obstacles Lecture 10 · Video
  11. Joint Space Dynamics, Newton-Euler Algorithm, Inertia Tensor, Example, Newton-Euler Equations, Lagrange Equations, Equations of Motion Video clip “Robotic Reconnaissance Team,” U of Minnesota, ICRA 2000 Video Proceedings courtesy IEEE (©… Lecture 11 · 1 h 14 min · Video
  12. Lagrange Equations, Equations of Motion, Kinetic Energy, Equations of Motion - Explicit Form, Centrifugal and Coriolis Forces, Christoffel Symbols, Mass Matrix, V Matrix, Final Equation of Motion Video clip “Space Rover,” EPFL,… Lecture 12 · 1 h 14 min · Video
  13. Control - Overview, Joint Space Control, Resolved Motion Rate Control, Natural Systems, Dissipative Systems, Example, Passive System Stability Video clip “Juggling Robot,” Dan Koditschek, U of Michigan, ISRR 1993 Video Proceedings… Lecture 13 · 1 h 10 min · Video
  14. PD Control, Control Partitioning, Motion Control, Disturbance Rejection, Steady-State Error, PID Control, Effective Inertia Video clip “A Finger-Shaped Tactile Sensor Using an Optical Waveguide,” H. Maekawa et al., MEL, AIST-MITI,… Lecture 14 · 1 h 13 min · Video
  15. Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking Video clip “On the Run,” Marc Raibert, MIT, ISRR… Lecture 15 · 1 h 12 min · Video
  16. Compliance, Force Control, Dynamics, Task Description, Historical Robotics, Stanford Human-Safe Robot, Task Posture and Control, Multi-Contact Whole-Body Control Lecture 16 · 1 h 10 min · Video

Syllabus and materials

At Stanford Engineering Everywhere, as the course publishes them.

Credits and licence

Institution
Stanford University
Department
Computer Science
Teacher
Oussama Khatib
Level
Undergraduate
Language
English
Subjects
Computer science
Source
Stanford Engineering Everywhere
Licence
CC BY-NC-SA 4.0, as Stanford Engineering Everywhere states it. Non-commercial use only. Stanford Engineering Everywhere's terms
Attribution
Stanford Engineering Everywhere, Stanford University. Licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License, unless otherwise expressly indicated.
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