I wrote the posts below to share my understanding, in particular with new students coming to robotics. Shoot me an e-mail if you find anything inaccurate, imprecise or unclear.
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).
- Conversion from Least Squares to Quadratic Programming
- Inverse Kinematics
- Least Squares
- Quadratic Programming
- Constrained equations of motion
- Contact modes
- Contact stability
- Equations of motion
- Friction cones
- Newton-Euler equations
- Point de non-basculement
- Screw axes
- Screw theory
- Wrench friction cones
- Zero-tilting moment point
- ZMP support area
- Capture point
- Floating base estimation
- How do biped robots walk?
- Linear inverted pendulum model
- Prototyping a walking pattern generator
Inspiring experiment on angular momentum and torques.
How to integrate the equations of motion.
Work out control problems directly in Python!
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 to it for prototyping of humanoid robot controllers.