Robotics

The notes below are here to share my understanding and connect the dots between the various bits of knowledge I learned while navigating through robotics. I hope they are still a fit for new students coming to robotics. Shoot me an e-mail if you find anything inaccurate or imprecise (yup, accuracy and precision are not the same thing :p).

Getting started

Kinematics

Kinematics is a subfield of mechanics that describes the motion of points, bodies and systems of bodies, regardless of what causes such motion (that will be the point of dynamics).

Dynamics

Contact dynamics

Geometry

Optimization

Walking

Science

See also

Physics

OpenRAVE

OpenRAVE is a C++/Python robotics software for forward kinematics and inverse dynamics of robot models. It provides other features not listed here such as symbolic inverse kinematics for serial manipulators. The pymanoid library adds whole-body inverse kinematics and model predictive control on top of it to prototype humanoid walking controllers.

© Stéphane Caron — Pages of this website are under the Creative Commons CC BY 4.0 license.