Resources for Learning Robotics
Collection of useful resources for learning robotics.
Robotics research requires multidisciplinary knowledge in mathematics, mechanical engineering, electrical engineering, computer engineering, and computer science. This post provides a collection of resources for learning robotics for beginners.
Fundamental Robotics Knowledge
Short videos that explain the basic concepts of robotics.
Robot Configuration
- Quaternions and Rotation in 3D Space, explained interactively
- Visualizing quaternions (4d numbers) with stereographic projection
- Explaining Gibmal Lock
- Configuration Space
- Task Space and Workspace
- Twist
- Wrenches
Coordinate Transformation
- Robotics 1 U1 (Kinematics) S3 (Rotation Matrices) P1 (Rotation Matrices)
- 2D Coordinate Transformation
- 3D Coordinate Transformation
Robot Kinematics
- Jacobian Matrix
- Change of Variables and the Jacobian
- Robot Singularities
- Singularities
- 2D Inverse Kinematics with Graphic Visualization
- Numerical Inverse Kinematics (1)
- Numerical Inverse Kinematics (2)
- Odometery
Robot Dynamics and Control
- ETH Zurich Robot Dynamics Lecture Notes
- Introduction to Lagrangian Mechanics
- Simple Pendulum via Lagrangian Mechanics
- Lagrangian Formulation of Robot Dynamics
- Inverse Dynamics
- Largangian Multipliers
- Constrained Lagrangian Mechanics
- PID Control Explained with Robotics
- Imedpance and Admittance Control
- Task Space Dynamics
- Redundant Manipulator Control with Nullspace Projection
- Hybrid Position/Force Control
- Model Predictive Control
- Anatomy of a Dynamical System
Motion Planning
Robot Electronics and Embedded System
- BLDC Motors
- DC Motor Speed-Torque Plane
- DC Motor Speed-Torque Curve
- Field Oriented Control
- Back EMF
- Encoder
- Serial Communication
- Control Area Network (CAN)
- EtherCAT
Robot Mechanism
- Reflection of a Motor
- Degrees of Freedom of a Robot
- Underactuated Systems
- Bearing
- Gears
- Backlash
- Planetary Gears
- Timing Belts and Pulleys
- Cable-Driven Transmission
- Series Elastic Actuators
- MIT Mini Cheetah Actuator Teardown
- Stiffness and Damping Identification
- Rolling Contact Joint
Machine Learning
- Residual and Least Squares Regression
- Neural Network
- Gradient Descent
- Graident Descent in Deep Learning
- Neural Network Architectures
- Backpropagation
- Transformer (1)
- Transformer (2)
Locomotion
Robot Operating System (ROS)
Online Courses
Online lecture series and courses on robotics.
Mathematics
Linear Algebra
- Linear Algebra by Gilbert Strang at MIT
- Essence of Linear Algebra by Grant Sanderson (3Blue1Brown)
- Linear Algebra by Khan Academy
Differential Equation
- Differential Equationby Khan Academy
Probability
- Statistics 110: Probability by Joe Blitzstein at Harvard University
Robot Mechanics, Design, and Control
Robotic Manipulation
- Modern Robotics by Kevin Lynch at Northwestern University
- Robotic Manipulation by Russ Tedrake at MIT
Robot Mechanism Design
- Applied Robot Designby Reuben Brewer at Stanford University
Robot Control
- Underacutated Robotics by Russ Tedrake at MIT
- Convex Optimization by Stephen Boyd at Stanford University
- Optimal Control by Zachery Manchester at CMU
- Control Bootcamp by Steven Brunton at University of Washington
https://people.eecs.berkeley.edu/~pabbeel/cs287-fa19/
Robot Perception and Navigation
Computer Vision
- Modern Computer Vision at UC Berkeley
SLAM
- Robot Mapping by Cyrill Stachniss at University of Bonn
Embedded System
- Intro to Embedded Systems by Jonathan Valvano at UT Austin