Modern Robotics Videos

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.

Introduction

YouTube playlist (Total running time: 2:16)

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

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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)

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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)

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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)

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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)

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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)

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Chapter 7: Kinematics of Closed Chains

YouTube playlist (Total running time: 8:34)

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

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Chapter 8: Dynamics of Open Chains

YouTube playlist (Total running time: )

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)

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Chapter 9: Trajectory Generation

YouTube playlist (Total running time: )

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)

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Chapter 10: Motion Planning

YouTube playlist (Total running time: )

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)

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Chapter 11: Robot Control

YouTube playlist (Total running time: )

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)

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Chapter 12: Grasping and Manipulation

YouTube playlist (Total running time: )

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

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Chapter 13: Wheeled Mobile Robots

YouTube playlist (Total running time: )

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