| # |
Topic |
Youtube |
Notes |
Code |
| Lec1a |
Python Basics |
Video |
None |
Code |
| Lec1b |
Python Matrices |
Video |
None |
see above |
| Lec1c |
Python Plots |
Video |
None |
see above |
| Lec2 |
Python Animation |
Video |
None |
Code |
| Lec3 |
Translation, Rotation, Homogenous Matrices |
Video |
PDF |
None |
| Lec4a |
Two-link manipulator forward kinematics |
Video |
PDF |
Code |
| Lec4b |
Two-link manipulator inverse kinematics |
Video |
see above |
see above |
| Lec5a |
Differential drive car forward kinematics |
Video |
PDF |
Code |
| Lec5b |
Differential drive car inverse kinematics |
Video |
see above |
see above |
| Lec6 |
Projectile under drag force |
Video |
PDF |
Code |
| Lec7 |
Symbolic derivatives and equations of motion |
Video |
PDF |
Code |
| Lec8 |
Double pendulum: derivation and simulation |
Video |
PDF |
Code |
| Lec9a |
Jacobian, Introduction |
Video |
PDF |
None |
| Lec9b |
Jacobian, computing velocity |
Video |
see above |
Code |
| Lec9c |
Jacobian, computing static forces/torques |
Video |
see above |
see above |
| Lec9d |
Jacobian, inverse kinematics |
Video |
see above |
see above |
| Lec10 |
Bouncing ball, a hybrid system |
Video |
PDF |
Code |
| Lec11a |
Passive Walking, Equations of single stance phase |
Video |
PDF |
None |
| Lec11b |
Passive Walking, Equations of footstrike |
Video |
see above |
None |
| Lec11c |
Passive Walking, Poincare section/map and simulations |
Video |
see above |
Code |
| Lec12 |
Introduction to optimization |
Video |
PDF |
Code |
| Lec13a |
Trajectory optimization using Collocation |
Video |
PDF |
Code |
| Lec13b |
Trajectory optimization using Single Shooting |
Video |
see above |
see above |
| Lec14a |
Trajectory generation concept |
Video |
PDF |
None |
| Lec14b |
Trajectory generation examples |
Video |
see above |
Code |
| Lec15a |
Feedback linearization, Intuition behind critical damping |
Video |
PDF |
None |
| Lec15b |
Feedback linearization, Why it works |
Video |
see above |
None |
| Lec15c |
Feedback linearization, Joint/Cartesian Tracking |
Video |
see above |
Code |
| Lec16a |
Linear Control, State space, Pole Placement, LQR |
Video |
PDF |
Code |
| Lec16b |
Linear Control, Linearization, Application to Pendubot |
Video |
see above |
see above |
| Lec17 |
Bicopter, modeling and trajectory tracking contro |
Video |
PDF |
Code |
| Lec18 |
Observers/Kalman Filter |
Video |
PDF |
Code |
| Lec19a |
3D Rotations, Introduction |
Video |
PDF |
None |
| Lec19b |
3D Rotations, 3-2-1 Euler Angles |
Video |
see above |
Code |
| Lec20 |
3D Linear and Angular Velocity |
Video |
PDF |
Code |
| Lec21 |
3D Dynamics |
Video |
PDF |
Code |
| Lec22 |
3D Quadcopter |
Video |
PDF |
Code |
| Lec23a |
3D Manipulator, Introduction to Denavit-Hartenberg |
Video |
PDF |
None |
| Lec23b |
3D Manipulator, 3 exampels of Denavit-Hartenberg |
Video |
see above |
None |
| Lec24 |
3D Manipulator, Inverse Kinematics |
Video |
PDF |
Code |