Introduction to Robotics

Course Overview
Oussama Khatib

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This module provides an overview of the course, including the history of robotics and its applications. It highlights related courses at Stanford and outlines essential topics such as manipulator kinematics and dynamics.

Key areas covered include:

History of Robotics

Applications in various fields

Course Schedule

Advanced Topics
Spatial Descriptions
Oussama Khatib

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This module focuses on spatial descriptions essential for understanding robotic movements. It covers generalized and operational coordinates, rotation matrices, and translations.

Students will learn about:

Generalized Coordinates

Operational Coordinates

Rotation Matrices

Homogeneous Transforms

Examples will illustrate these concepts to solidify understanding.
Homogeneous Transform Interpretations
Oussama Khatib

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This module delves into homogeneous transform interpretations, focusing on compound transformations and rotation representations. Key topics include:

Rotation Representations

Euler Angles

Fixed Angles

Singularities

Euler Parameters

Examples will enhance understanding of these fundamental concepts in robotics.
Manipulator Kinematics
Oussama Khatib

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This module introduces manipulator kinematics, outlining link descriptions and connections using Denavit-Hartenberg parameters. Topics covered include:

Link Descriptions

Link Connections

Denavit-Hartenberg Parameters

Forward Kinematics

Students will learn to construct the Denavit-Hartenberg table and apply it to robotic systems.
Summary - Frame Attachment
Oussama Khatib

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This module summarizes frame attachment, providing practical examples such as the RPRR manipulator and the Stanford Scheinman Arm. Topics include:

Frame Attachment Summary

Stanford Scheinman Arm - DH Table

Forward Kinematics

T-Matrices

Understanding these concepts is vital for effective manipulator control.
Instantaneous Kinematics
Oussama Khatib

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This module covers instantaneous kinematics, focusing on the Jacobian matrix and its applications. Key topics include:

Jacobian Definition

Direct Differentiation

Basic Jacobian Example - Scheinman Arm

Velocity Propagation

Examples will help students grasp the application of Jacobians in robotic systems.
Jacobian - Explicit Form
Oussama Khatib

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This module presents the explicit form of the Jacobian. Students will explore:

Jacobian Jv / Jw

Jacobian in Different Frames

Kinematic Singularity

Examples will demonstrate the significance of Jacobians in robotic systems and their applications in motion control.
Scheinman Arm - Demo
Oussama Khatib

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This module features a demo of the Scheinman Arm, emphasizing kinematic singularities and their implications. Topics include:

Kinematic Singularity Overview

Puma Simulation

Resolved Rate Motion Control

Velocity/Force Duality

Examples illustrate the importance of understanding these concepts in real-world robotic applications.
Intro - Guest Lecturer: Gregory Hager
Oussama Khatib

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This module introduces guest lecturer Gregory Hager, who discusses computer vision and its application in robotics. Topics include:

Computational Stereo

Stereo-Based Reconstruction

Disparity Maps

SIFT Feature Selection

Students will also learn about tracking cycles and future challenges in computer vision technology.
Guest Lecturer: Krasimir Kolarov
Oussama Khatib

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This module features guest lecturer Krasimir Kolarov, who addresses trajectory generation in robotics. Key topics include:

Basic Trajectory Generation Problems

Cartesian Planning

Cubic Polynomial Methods

Higher Order Polynomials

Students will learn about trajectory planning with obstacles and its significance in robotic applications.
Joint Space Dynamics
Oussama Khatib

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This module focuses on joint space dynamics, introducing the Newton-Euler algorithm and inertia tensor calculations. Topics include:

Newton-Euler Equations

Lagrange Equations

Equations of Motion

Examples will illustrate the application of these equations in robotic systems.
Lagrange Equations
Oussama Khatib

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This module elaborates on Lagrange equations, focusing on deriving equations of motion and understanding kinetic energy. Topics include:

Explicit Form Equations

Centrifugal and Coriolis Forces

Christoffel Symbols

Mass Matrix and V Matrix

Students will learn about the final equation of motion and its applications in robotics.
Control - Overview
Oussama Khatib

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This module provides an overview of control systems used in robotics. Key topics include:

Joint Space Control

Resolved Motion Rate Control

Dissipative Systems

Passive System Stability

Examples will illustrate how different control techniques can be applied to robotic systems.
PD Control
Oussama Khatib

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This module introduces PD control methods, emphasizing control partitioning and effective motion control. Key topics include:

Disturbance Rejection

Steady-State Error

PID Control

Effective Inertia

Students will learn about practical applications and the significance of control techniques in robotics.
Manipulator Control
Oussama Khatib

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This module focuses on manipulator control, covering stability and task-oriented control strategies. Key topics include:

PD Control Stability

Task-Oriented Control

Operational Space Dynamics

Nonlinear Dynamic Decoupling

Trajectory Tracking

Examples demonstrate how these concepts are applied in robotic systems.
Compliance
Oussama Khatib

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This module discusses compliance in robotic systems, highlighting the importance of force control and dynamics. Topics include:

Compliance Overview

Dynamics and Task Description

Historical Robotics

Multi-Contact Whole-Body Control

Students will learn about the Stanford Human-Safe Robot and its implications for robotics.

Course

Introduction to Robotics

Course Lectures