Modern Robotics Videos

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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)

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