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 ¶
 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
 NewtonEuler equations
 Point de nonbasculement
 Principle of virtual work
 Recursive NewtonEuler algorithm
 Revolute joints
 Screw theory
 Zerotilting moment point
Kinematics ¶
 Differential inverse kinematics
 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 goto writeup on the equations of motion.

The Principle of Least Action
A special lecture by Richard Feynman.