Modern Robotics Videos

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This page is under construction. Videos covering the whole book should be available by October 2017. Follow this link to go back to the main page for the book Modern Robotics.

Click here to watch the video lectures embedded in a convenient viewing environment.

YouTube playlist for all Modern Robotics videos.

Video supplements for Modern Robotics are linked below. They cover much of the material in the book, but at a fast pace. To fully understand the material, you will need to consult the book and work some exercises! A good strategy for self-study may be to watch the video first, to get a quick introduction to the material, then read the corresponding section in the book.

Contents

Introduction

YouTube playlist (Total running time: 2:16)

  1. Introduction to the Lightboard (1:33)
  2. Acknowledgments (0:43)

Chapter 2: Configuration Space

YouTube playlist (Total running time: 27:35)

  1. Chapters 2 and 3: Foundations of Robot Motion (2:12)
  2. Chapter 2.1: Degrees of Freedom of a Rigid Body (5:15)
  3. Chapter 2.2: Degrees of Freedom of a Robot (5:43)
  4. Chapter 2.3.1: Configuration Space Topology (4:37)
  5. Chapter 2.3.2: Configuration Space Representation (3:52)
  6. Chapter 2.4: Configuration and Velocity Constraints (4:21)
  7. Chapter 2.5: Task Space and Workspace (1:35)

Chapter 3: Rigid-Body Motions

YouTube playlist (Total running time: 40:35)

  1. Chapter 3: Introduction to Rigid-Body Motions (2:10)
  2. Chapter 3.2.1: Rotation Matrices (Part 1 of 2) (2:54)
  3. Chapter 3.2.1: Rotation Matrices (Part 2 of 2) (4:14)
  4. Chapter 3.2.2: Angular Velocities (3:28)
  5. Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2) (2:04)
  6. Chapter 3.2.3: Exponential Coordinates of Rotation (Part 2 of 2) (3:43)
  7. Chapter 3.3.1: Homogeneous Transformation Matrices (6:22)
  8. Chapter 3.3.2: Twists (Part 1 of 2) (5:00)
  9. Chapter 3.3.2: Twists (Part 2 of 2) (2:39)
  10. Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion (5:00)
  11. Chapter 3.4: Wrenches (3:01)

Chapter 4: Forward Kinematics

YouTube playlist (Total running time: 13:40)

  1. Chapter 4.1.1: Product of Exponentials Formula in the Space Frame (6:31)
  2. Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame (4:41)
  3. Chapter 4: Forward Kinematics Example (3:28)

Chapter 5: Velocity Kinematics and Statics

YouTube playlist (Total running time: 34:33)

  1. Chapter 5: Velocity Kinematics and Statics (8:28)
  2. Chapter 5.1.1: Space Jacobian (5:59)
  3. Chapter 5.1.2: Body Jacobian (4:51)
  4. Chapter 5.2: Statics of Open Chains (2:54)
  5. Chapter 5.3: Singularities (6:37)
  6. Chapter 5.4: Manipulability (5:44)

Chapter 6: Inverse Kinematics

YouTube playlist (Total running time: 13:54)

  1. Chapter 6: Inverse Kinematics of Open Chains (4:03)
  2. Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2) (5:04)
  3. Chapter 6.2: Numerical Inverse Kinematics (Part 2 of 2) (4:47)

Chapter 7: Kinematics of Closed Chains

YouTube playlist (Total running time: 8:34)

  1. Chapter 7: Kinematics of Closed Chains (8:34)

Chapter 8: Dynamics of Open Chains

  1. Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2) (6:41)
  2. Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2) (5:35)
  3. Chapter 8.1.3: Understanding the Mass Matrix (5:21)
  4. Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2) (6:13)
  5. Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2) (4:05)
  6. Chapter 8.3: Newton-Euler Inverse Dynamics (5:53)
  7. Chapter 8.5: Forward Dynamics of Open Chains (3:43)
  8. Chapter 8.6: Dynamics in the Task Space (1:32)
  9. Chapter 8.7: Constrained Dynamics (5:10)
  10. Chapter 8.9: Actuation, Gearing, and Friction (6:06)

Chapter 9: Trajectory Generation


Chapter 10: Motion Planning


Chapter 11: Robot Control


Chapter 12: Grasping and Manipulation


Chapter 13: Wheeled Mobile Robots

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