Robotics

Here are notes connecting bits of knowledge I found useful in robotics. Don't hesitate to chime in the discussions if you have questions.

• Locomotion
• Models
• Contact dynamics
• Dynamics
• Kinematics
• See also

Locomotion ¶

• Capture point
• Floating base estimation
• How do biped robots walk?
• Linear inverted pendulum model
• Open loop and closed loop model predictive control
• Prototyping a walking pattern generator
• Tuning the LIPM walking controller

Models ¶

• Contact flexibility and force control
• Linear inverted pendulum model
• Point mass model
• Wheeled inverted pendulum model

Contact dynamics ¶

• Contact flexibility and force control
• Contact modes
• Contact stability
• Friction cones
• Twisting friction at surface contacts
• Wrench friction cones
• ZMP support area

Dynamics ¶

• Constrained equations of motion
• Equations of motion
• Forward dynamics
• Knee torque of a lumped mass model
• Newton-Euler equations
• Point de non-basculement
• Principle of virtual work
• Recursive Newton-Euler algorithm
• Revolute joints
• Screw theory
• Zero-tilting moment point

Kinematics ¶

• Differential inverse kinematics
• From spatial to body acceleration
• Jacobian of a kinematic task and derivatives on manifolds
• Kinematics jargon
• Kinematics of a symmetric leg
• Position and coordinate systems
• Revolute joints
• Screw axes
• Screw theory
• Spatial vector algebra cheat sheet

See also ¶

• An Introduction to Lagrange Multipliers
  How Lagrange multipliers arise from optimization constraints.
• Integration Basics
  How to integrate the equations of motion.
• Some comments on the structure of the dynamics of articulated motion
  My go-to writeup on the equations of motion.
• The Principle of Least Action
  A special lecture by Richard Feynman.