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.


[https://www.youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx '''YouTube playlist for all ''Modern Robotics'' videos.''']
[https://www.youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx '''YouTube playlist for all ''Modern Robotics'' videos.''']


Video supplements for ''Modern Robotics'' are linked below. They cover much of the material in the book. To fully understand the material, though, 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.
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===
===Introduction===
[https://www.youtube.com/playlist?list=PLggLP4f-rq02hvwNGpSWJMqjZhLpuDM-Y YouTube playlist] (Total running time: 2:16)
Total running time: 1:33

[https://www.youtube.com/playlist?list=PLggLP4f-rq02hvwNGpSWJMqjZhLpuDM-Y YouTube playlist]
# [https://youtu.be/jVu-Hijns70 '''Introduction to the Lightboard'''] (1:33)
# [https://youtu.be/jVu-Hijns70 '''Introduction to the Lightboard'''] (1:33)
# [https://youtu.be/9usycd3tnCk '''Acknowledgments'''] (0:43)
----
----


===Chapter 2: Configuration Space===
===Chapter 2: Configuration Space===
Total running time: 27:35
[https://www.youtube.com/playlist?list=PLggLP4f-rq01z8VLqhDC94W2nWpWpZoMj YouTube playlist] (Total running time: 27:35)

[https://www.youtube.com/playlist?list=PLggLP4f-rq01z8VLqhDC94W2nWpWpZoMj YouTube playlist]
# [https://youtu.be/csYtU2GY7FY '''Chapters 2 and 3: Foundations of Robot Motion'''] (2:12)
# [https://youtu.be/csYtU2GY7FY '''Chapters 2 and 3: Foundations of Robot Motion'''] (2:12)
# [https://youtu.be/z29hYlagOYM '''Chapter 2.1: Degrees of Freedom of a Rigid Body'''] (5:15)
# [https://youtu.be/z29hYlagOYM '''Chapter 2.1: Degrees of Freedom of a Rigid Body'''] (5:15)
Line 21: Line 20:
# [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)
----
----


===Chapter 3: Rigid-Body Motions===
===Chapter 3: Rigid-Body Motions===
Total running time: 40:35
[https://www.youtube.com/playlist?list=PLggLP4f-rq01NLHOh2vVPPJZ0rxkbVFNc YouTube playlist] (Total running time: 40:35)

[https://www.youtube.com/playlist?list=PLggLP4f-rq01NLHOh2vVPPJZ0rxkbVFNc YouTube playlist]
# [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 43: Line 40:


===Chapter 4: Forward Kinematics===
===Chapter 4: Forward Kinematics===
Total running time: 13:40
[https://www.youtube.com/playlist?list=PLggLP4f-rq00efLcgMcG1m4k5CKlgRcGh YouTube playlist] (Total running time: 13:40)

[https://www.youtube.com/playlist?list=PLggLP4f-rq00efLcgMcG1m4k5CKlgRcGh YouTube playlist]
# [https://youtu.be/hE_Duih_7JE '''Chapter 4.1.1: Product of Exponentials Formula in the Space Frame'''] (6:31)
# [https://youtu.be/hE_Duih_7JE '''Chapter 4.1.1: Product of Exponentials Formula in the Space Frame'''] (6:31)
# [https://youtu.be/27jUrkFdyks '''Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame'''] (4:41)
# [https://youtu.be/27jUrkFdyks '''Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame'''] (4:41)
Line 52: Line 47:


===Chapter 5: Velocity Kinematics and Statics===
===Chapter 5: Velocity Kinematics and Statics===
Total running time: 34:33
[https://www.youtube.com/playlist?list=PLggLP4f-rq00oA7lrv6dS5C15RYjqj4Zi YouTube playlist] (Total running time: 34:33)

[https://www.youtube.com/playlist?list=PLggLP4f-rq00oA7lrv6dS5C15RYjqj4Zi YouTube playlist]
# [https://youtu.be/6tj8QLF69Ok '''Chapter 5: Velocity Kinematics and Statics'''] (8:28)
# [https://youtu.be/6tj8QLF69Ok '''Chapter 5: Velocity Kinematics and Statics'''] (8:28)
# [https://youtu.be/KbI8HN3imtQ '''Chapter 5.1.1: Space Jacobian'''] (5:59)
# [https://youtu.be/KbI8HN3imtQ '''Chapter 5.1.1: Space Jacobian'''] (5:59)
Line 64: Line 57:


===Chapter 6: Inverse Kinematics===
===Chapter 6: Inverse Kinematics===
Total running time: 13:54
[https://www.youtube.com/playlist?list=PLggLP4f-rq01fi62ek1BoV1yiPHLL3Vt- YouTube playlist] (Total running time: 13:54)

[https://www.youtube.com/playlist?list=PLggLP4f-rq01fi62ek1BoV1yiPHLL3Vt- YouTube playlist]
# [https://youtu.be/nin2TbMuhR0 '''Chapter 6: Inverse Kinematics of Open Chains'''] (4:03)
# [https://youtu.be/nin2TbMuhR0 '''Chapter 6: Inverse Kinematics of Open Chains'''] (4:03)
# [https://youtu.be/VhUA0jf7tI8 '''Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2)'''] (5:04)
# [https://youtu.be/VhUA0jf7tI8 '''Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2)'''] (5:04)
Line 73: Line 64:


===Chapter 7: Kinematics of Closed Chains===
===Chapter 7: Kinematics of Closed Chains===
Total running time: 8:34
[https://www.youtube.com/playlist?list=PLggLP4f-rq006EwbPbqZE_UcxAUGghSfA YouTube playlist] (Total running time: 8:34)

[https://www.youtube.com/playlist?list=PLggLP4f-rq006EwbPbqZE_UcxAUGghSfA YouTube playlist]
# [https://youtu.be/5wCK6XGC3ig '''Chapter 7: Kinematics of Closed Chains'''] (8:34)
# [https://youtu.be/5wCK6XGC3ig '''Chapter 7: Kinematics of Closed Chains'''] (8:34)
----
----


===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)