Difference between revisions of "Modern Robotics Videos"

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These videos accompany the textbook ''[http://hades.mech.northwestern.edu/index.php/Modern_Robotics Modern Robotics]''.
'''This page is under construction. Videos covering the whole book should be available by October 2017. Follow [[Modern Robotics|this link]] to go back to the main page for the book ''Modern Robotics''.'''


[http://modernrobotics.northwestern.edu '''Click here'''] to watch the video lectures embedded in a convenient viewing environment.
[http://modernrobotics.northwestern.edu '''Click here'''] to watch the video lectures embedded in a convenient viewing environment.
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# [https://youtu.be/FyLNR3edOds '''Chapter 2.3.1: Configuration Space Topology'''] (4:37)
# [https://youtu.be/FyLNR3edOds '''Chapter 2.3.1: Configuration Space Topology'''] (4:37)
# [https://youtu.be/PPgJPjCUIXU '''Chapter 2.3.2: Configuration Space Representation'''] (3:52)
# [https://youtu.be/PPgJPjCUIXU '''Chapter 2.3.2: Configuration Space Representation'''] (3:52)
# [https://youtu.be/8eQ6Xt6YkYU '''Chapter 2.4: Configuration and Velocity Constraints'''] (4:21)
# [https://youtu.be/A14ArEZ47LE '''Chapter 2.4: Configuration and Velocity Constraints'''] (4:21)
# [https://youtu.be/hTuW51CpUg4 '''Chapter 2.5: Task Space and Workspace'''] (1:35)
# [https://youtu.be/hTuW51CpUg4 '''Chapter 2.5: Task Space and Workspace'''] (1:35)
----
----
Line 28: Line 28:
# [https://youtu.be/29LhXWjn7Pc '''Chapter 3: Introduction to Rigid-Body Motions'''] (2:10)
# [https://youtu.be/29LhXWjn7Pc '''Chapter 3: Introduction to Rigid-Body Motions'''] (2:10)
# [https://youtu.be/OZucG1DY_sY '''Chapter 3.2.1: Rotation Matrices (Part 1 of 2)'''] (2:54)
# [https://youtu.be/OZucG1DY_sY '''Chapter 3.2.1: Rotation Matrices (Part 1 of 2)'''] (2:54)
# [https://youtu.be/mU8t2BmlbmE '''Chapter 3.2.1: Rotation Matrices (Part 2 of 2)'''] (4:14)
# [https://youtu.be/6KIPusOv5fA '''Chapter 3.2.1: Rotation Matrices (Part 2 of 2)'''] (4:14)
# [https://youtu.be/zJJldJYMxVU '''Chapter 3.2.2: Angular Velocities'''] (3:28)
# [https://youtu.be/zJJldJYMxVU '''Chapter 3.2.2: Angular Velocities'''] (3:28)
# [https://youtu.be/v_KBHaG0mas '''Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2)'''] (2:04)
# [https://youtu.be/v_KBHaG0mas '''Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2)'''] (2:04)
Line 69: Line 69:


===Chapter 8: Dynamics of Open Chains===
===Chapter 8: Dynamics of Open Chains===
[https://www.youtube.com/playlist?list=PLggLP4f-rq00TQamz2pXjzPWpuxhVN_Vy YouTube playlist] (Total running time: 50:19)
# [https://youtu.be/1U6y_68CjeY '''Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)'''] (6:41)
# [https://youtu.be/BjD-pL819LA '''Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2)'''] (5:35)
# [https://youtu.be/7PFQou5l9do '''Chapter 8.1.3: Understanding the Mass Matrix'''] (5:21)
# [https://youtu.be/9pdqePt1Nbg '''Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2)'''] (6:13)
# [https://youtu.be/2rUWVdslaI4 '''Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2)'''] (4:05)
# [https://youtu.be/ZASVKAlegfQ '''Chapter 8.3: Newton-Euler Inverse Dynamics'''] (5:53)
# [https://youtu.be/L8zpJOxDbh4 '''Chapter 8.5: Forward Dynamics of Open Chains'''] (3:43)
# [https://youtu.be/iQa01aFgf8U '''Chapter 8.6: Dynamics in the Task Space'''] (1:32)
# [https://youtu.be/E6Yp6DwJh24 '''Chapter 8.7: Constrained Dynamics'''] (5:10)
# [https://youtu.be/w1kYLT3pETc '''Chapter 8.9: Actuation, Gearing, and Friction'''] (6:06)
----
----


===Chapter 9: Trajectory Generation===
===Chapter 9: Trajectory Generation===
[https://www.youtube.com/playlist?list=PLggLP4f-rq00wo1z_Or2rRPAt1pStwmlY YouTube playlist] (Total running time: 28:45)
# [https://youtu.be/1JRMqfEm79c '''Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 1 of 2)'''] (5:40)
# [https://youtu.be/0ZqeBEa_MWo '''Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 2 of 2)'''] (3:07)
# [https://youtu.be/sWPpq9-5YOc '''Chapter 9.3: Polynomial Via Point Trajectories'''] (2:59)
# [https://youtu.be/DRFA_iwH_HQ '''Chapter 9.4: Time-Optimal Time Scaling (Part 1 of 3)'''] (5:38)
# [https://youtu.be/WR2oPxJi-H0 '''Chapter 9.4: Time-Optimal Time Scaling (Part 2 of 3)'''] (6:36)
# [https://youtu.be/VqfUuh3BgeU '''Chapter 9.4: Time-Optimal Time Scaling (Part 3 of 3)'''] (4:45)
----
----


===Chapter 10: Motion Planning===
===Chapter 10: Motion Planning===
[https://www.youtube.com/playlist?list=PLggLP4f-rq01Q3clJrnWFPRtpUwSlr4mG YouTube playlist] (Total running time: 49:36)
# [https://youtu.be/aC4LQuB4Cic '''Chapter 10.1: Overview of Motion Planning'''] (4:33)
# [https://youtu.be/s2qrMwqm4D0 '''Chapter 10.2.1: C-Space Obstacles'''] (4:43)
# [https://youtu.be/QpOuyqd6nnc '''Chapter 10.2.3: Graphs and Trees'''] (2:23)
# [https://youtu.be/ZI800-2jv38 '''Chapter 10.2.4: Graph Search'''] (9:25)
# [https://youtu.be/SIHzI0jsLK0 '''Chapter 10.3: Complete Path Planners'''] (3:04)
# [https://youtu.be/kCZAgL3jdxk '''Chapter 10.4: Grid Methods for Motion Planning'''] (4:25)
# [https://youtu.be/rKe6HO8LDu0 '''Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2)'''] (3:11)
# [https://youtu.be/Ao7p_xiUu4s '''Chapter 10.5: Sampling Methods for Motion Planning (Part 2 of 2)'''] (7:13)
# [https://youtu.be/8Vva0bnMIEI '''Chapter 10.6: Virtual Potential Fields'''] (5:09)
# [https://youtu.be/-z6Rlei8iPE '''Chapter 10.7: Nonlinear Optimization'''] (5:30)
----
----


===Chapter 11: Robot Control===
===Chapter 11: Robot Control===
[https://www.youtube.com/playlist?list=PLggLP4f-rq02N54sD6xwdDWlDScvb32Pp YouTube playlist] (Total running time: 57:51)
# [https://youtu.be/mGuDXlZEoSc '''Chapter 11.1: Control System Overview'''] (3:24)
# [https://youtu.be/ddkUszFVTUk '''Chapter 11.2.1: Error Response'''] (2:49)
# [https://youtu.be/1TY4tpSnjBg '''Chapter 11.2.2: Linear Error Dynamics'''] (4:20)
# [https://youtu.be/MfhHENvUnhg '''Chapter 11.2.2.1: First-Order Error Dynamics'''] (1:56)
# [https://youtu.be/4zOGHJWuxlg '''Chapter 11.2.2.2: Second-Order Error Dynamics'''] (5:37)
# [https://youtu.be/QFCbTVJqm8I '''Chapter 11.3: Motion Control with Velocity Inputs (Part 1 of 3)'''] (4:13)
# [https://youtu.be/NAXmXg1gCI0 '''Chapter 11.3: Motion Control with Velocity Inputs (Part 2 of 3)'''] (6:02)
# [https://youtu.be/WuhEEidkes8 '''Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3)'''] (4:29)
# [https://youtu.be/HAVBtupm8zM '''Chapter 11.4: Motion Control with Torque or Force Inputs (Part 1 of 3)'''] (4:05)
# [https://youtu.be/992hdsGgVlE '''Chapter 11.4: Motion Control with Torque or Force Inputs (Part 2 of 3)'''] (5:33)
# [https://youtu.be/MV-xBPP3H2k '''Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3)'''] (7:12)
# [https://youtu.be/M1U629sREiY '''Chapter 11.5: Force Control'''] (2:45)
# [https://youtu.be/UR0GpaaBVKk '''Chapter 11.6: Hybrid Motion-Force Control'''] (5:26)
----
----


===Chapter 12: Grasping and Manipulation===
===Chapter 12: Grasping and Manipulation===
[https://www.youtube.com/playlist?list=PLggLP4f-rq03J3TLUyIW0ZGfejrTjHayw YouTube playlist] (Total running time: 58:24)
# [https://youtu.be/jAhpRolF-zg '''Chapter 12: Grasping and Manipulation'''] (4:55)
# [https://youtu.be/EfBwUbCP5nk '''Chapter 12.1.1: First-Order Analysis of a Single Contact'''] (4:14)
# [https://youtu.be/k26cAEmTSNQ '''Chapter 12.1.2: Contact Types: Rolling, Sliding, and Breaking'''] (5:41)
# [https://youtu.be/aZaAOvmzkmw '''Chapter 12.1.3: Multiple Contacts'''] (4:48)
# [https://youtu.be/Pfi5yRsytc8 '''Chapter 12.1.6: Planar Graphical Methods (Part 1 of 2)'''] (4:19)
# [https://youtu.be/ly66qBXt-Yc '''Chapter 12.1.6: Planar Graphical Methods (Part 2 of 2)'''] (4:44)
# [https://youtu.be/GjAtNb3VDZQ '''Chapter 12.1.7: Form Closure'''] (4:07)
# [https://youtu.be/FY92f7gssWc '''Chapter 12.2.1: Friction'''] (5:38)
# [https://youtu.be/Qa74jWgtlnQ '''Chapter 12.2.2: Planar Graphical Methods'''] (4:02)
# [https://youtu.be/6RWFFMtD5k8 '''Chapter 12.2.3: Force Closure'''] (4:04)
# [https://youtu.be/PPl0yuFJCVM '''Chapter 12.2.4: Duality of Force and Motion Freedoms'''] (3:32)
# [https://youtu.be/luyzvBT_Ykc '''Chapter 12.3: Manipulation and the Meter-Stick Trick'''] (5:16)
# [https://youtu.be/Ad5dbYVuaPM '''Chapter 12.3: Transport of an Assembly'''] (3:04)
----
----


===Chapter 13: Wheeled Mobile Robots===
===Chapter 13: Wheeled Mobile Robots===
[https://www.youtube.com/playlist?list=PLggLP4f-rq00uzTEwsywVcTF2fJ2YqAXX YouTube playlist] (Total running time: 59:26)
# [https://youtu.be/NYO2X3eJ_Ro '''Chapter 13.1: Wheeled Mobile Robots'''] (2:10)
# [https://youtu.be/NcOT9hOsceE '''Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2)'''] (6:02)
# [https://youtu.be/B1K-ti5Lqjc '''Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2)'''] (3:00)
# [https://youtu.be/fPHVhlRFFCk '''Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots'''] (5:00)
# [https://youtu.be/hTEZ98hozSM '''Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4)'''] (4:07)
# [https://youtu.be/S7Y2aUQiDCw '''Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 2 of 4)'''] (6:28)
# [https://youtu.be/e5uCP8vWV8E '''Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 3 of 4)'''] (5:38)
# [https://youtu.be/rm24IyHpCAs '''Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 4 of 4)'''] (5:26)
# [https://youtu.be/jOesC0wKpTQ '''Chapter 13.3.3: Motion Planning for Nonholonomic Mobile Robots'''] (5:02)
# [https://youtu.be/STF1Ubf3moU '''Chapter 13.3.4: Feedback Control for Nonholonomic Mobile Robots'''] (5:42)
# [https://youtu.be/eQ9E0Zvp9jw '''Chapter 13.4: Odometry'''] (4:32)
# [https://youtu.be/1MgpqD7v2x0 '''Chapter 13.5: Mobile Manipulation'''] (6:19)
----

===Capstone Project, Mobile Manipulation===
[https://youtu.be/Q1CekpBW6Js '''Capstone Project, Mobile Manipulation'''] (2:27)

Latest revision as of 12:18, 3 June 2022

These videos accompany the textbook 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.

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

YouTube playlist (Total running time: 50:19)

  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

YouTube playlist (Total running time: 28:45)

  1. Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 1 of 2) (5:40)
  2. Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 2 of 2) (3:07)
  3. Chapter 9.3: Polynomial Via Point Trajectories (2:59)
  4. Chapter 9.4: Time-Optimal Time Scaling (Part 1 of 3) (5:38)
  5. Chapter 9.4: Time-Optimal Time Scaling (Part 2 of 3) (6:36)
  6. Chapter 9.4: Time-Optimal Time Scaling (Part 3 of 3) (4:45)

Chapter 10: Motion Planning

YouTube playlist (Total running time: 49:36)

  1. Chapter 10.1: Overview of Motion Planning (4:33)
  2. Chapter 10.2.1: C-Space Obstacles (4:43)
  3. Chapter 10.2.3: Graphs and Trees (2:23)
  4. Chapter 10.2.4: Graph Search (9:25)
  5. Chapter 10.3: Complete Path Planners (3:04)
  6. Chapter 10.4: Grid Methods for Motion Planning (4:25)
  7. Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2) (3:11)
  8. Chapter 10.5: Sampling Methods for Motion Planning (Part 2 of 2) (7:13)
  9. Chapter 10.6: Virtual Potential Fields (5:09)
  10. Chapter 10.7: Nonlinear Optimization (5:30)

Chapter 11: Robot Control

YouTube playlist (Total running time: 57:51)

  1. Chapter 11.1: Control System Overview (3:24)
  2. Chapter 11.2.1: Error Response (2:49)
  3. Chapter 11.2.2: Linear Error Dynamics (4:20)
  4. Chapter 11.2.2.1: First-Order Error Dynamics (1:56)
  5. Chapter 11.2.2.2: Second-Order Error Dynamics (5:37)
  6. Chapter 11.3: Motion Control with Velocity Inputs (Part 1 of 3) (4:13)
  7. Chapter 11.3: Motion Control with Velocity Inputs (Part 2 of 3) (6:02)
  8. Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3) (4:29)
  9. Chapter 11.4: Motion Control with Torque or Force Inputs (Part 1 of 3) (4:05)
  10. Chapter 11.4: Motion Control with Torque or Force Inputs (Part 2 of 3) (5:33)
  11. Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3) (7:12)
  12. Chapter 11.5: Force Control (2:45)
  13. Chapter 11.6: Hybrid Motion-Force Control (5:26)

Chapter 12: Grasping and Manipulation

YouTube playlist (Total running time: 58:24)

  1. Chapter 12: Grasping and Manipulation (4:55)
  2. Chapter 12.1.1: First-Order Analysis of a Single Contact (4:14)
  3. Chapter 12.1.2: Contact Types: Rolling, Sliding, and Breaking (5:41)
  4. Chapter 12.1.3: Multiple Contacts (4:48)
  5. Chapter 12.1.6: Planar Graphical Methods (Part 1 of 2) (4:19)
  6. Chapter 12.1.6: Planar Graphical Methods (Part 2 of 2) (4:44)
  7. Chapter 12.1.7: Form Closure (4:07)
  8. Chapter 12.2.1: Friction (5:38)
  9. Chapter 12.2.2: Planar Graphical Methods (4:02)
  10. Chapter 12.2.3: Force Closure (4:04)
  11. Chapter 12.2.4: Duality of Force and Motion Freedoms (3:32)
  12. Chapter 12.3: Manipulation and the Meter-Stick Trick (5:16)
  13. Chapter 12.3: Transport of an Assembly (3:04)

Chapter 13: Wheeled Mobile Robots

YouTube playlist (Total running time: 59:26)

  1. Chapter 13.1: Wheeled Mobile Robots (2:10)
  2. Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2) (6:02)
  3. Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2) (3:00)
  4. Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots (5:00)
  5. Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4) (4:07)
  6. Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 2 of 4) (6:28)
  7. Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 3 of 4) (5:38)
  8. Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 4 of 4) (5:26)
  9. Chapter 13.3.3: Motion Planning for Nonholonomic Mobile Robots (5:02)
  10. Chapter 13.3.4: Feedback Control for Nonholonomic Mobile Robots (5:42)
  11. Chapter 13.4: Odometry (4:32)
  12. Chapter 13.5: Mobile Manipulation (6:19)

Capstone Project, Mobile Manipulation

Capstone Project, Mobile Manipulation (2:27)