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).
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).
- Constrained equations of motion
- Equations of motion
- Forward dynamics
- Inverse dynamics
- Newton-Euler equations
- Point de non-basculement
- Screw axes
- Screw theory
- Zero-tilting moment point
- Conversion from least squares to quadratic programming
- Inverse kinematics
- Least squares
- Quadratic programming
- Capture point
- Floating base estimation
- How do biped robots walk?
- Linear inverted pendulum model
- Prototyping a walking pattern generator
Experiments on angular momentum and torque.
How to integrate the equations of motion.
The Principle of Least Action
A special lecture by Richard Feynman.
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.