# | 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 | None | |

Lec4a | Two-link manipulator forward kinematics | Video | Code | |

Lec4b | Two-link manipulator inverse kinematics | Video | see above | see above |

Lec5a | Differential drive car forward kinematics | Video | Code | |

Lec5b | Differential drive car inverse kinematics | Video | see above | see above |

Lec6 | Projectile under drag force | Video | Code | |

Lec7 | Symbolic derivatives and equations of motion | Video | Code | |

Lec8 | Double pendulum: derivation and simulation | Video | Code | |

Lec9a | Jacobian, Introduction | Video | 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 | Code | |

Lec11a | Passive Walking, Equations of single stance phase | Video | 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 | Code | |

Lec13a | Trajectory optimization using Collocation | Video | Code | |

Lec13b | Trajectory optimization using Single Shooting | Video | see above | see above |

Lec14a | Trajectory generation concept | Video | None | |

Lec14b | Trajectory generation examples | Video | see above | Code |

Lec15a | Feedback linearization, Intuition behind critical damping | Video | 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 | Code | |

Lec16b | Linear Control, Linearization, Application to Pendubot | Video | see above | see above |

Lec17 | Bicopter, modeling and trajectory tracking contro | Video | Code | |

Lec18 | Observers/Kalman Filter | Video | Code | |

Lec19a | 3D Rotations, Introduction | Video | None | |

Lec19b | 3D Rotations, 3-2-1 Euler Angles | Video | see above | Code |

Lec20 | 3D Linear and Angular Velocity | Video | Code | |

Lec21 | 3D Dynamics | Video | Code | |

Lec22 | 3D Quadcopter | Video | Code | |

Lec23a | 3D Manipulator, Introduction to Denavit-Hartenberg | Video | None | |

Lec23b | 3D Manipulator, 3 exampels of Denavit-Hartenberg | Video | see above | None |

Lec24 | 3D Manipulator, Inverse Kinematics | Video | Code |