Resources for Learning Robotics

Collection of useful resources for learning robotics.

Robotics research requires multidisciplinary knowledge in mathematics, mechanical engineering, electrical engineering, computer engineering, and computer science. This post provides a collection of resources for learning robotics for beginners.

Fundamental Robotics Knowledge

Short videos that explain the basic concepts of robotics.

Robot Configuration

• Quaternions and Rotation in 3D Space, explained interactively
• Visualizing quaternions (4d numbers) with stereographic projection
• Explaining Gibmal Lock
• Configuration Space
• Task Space and Workspace
• Twist
• Wrenches

Coordinate Transformation

• Robotics 1 U1 (Kinematics) S3 (Rotation Matrices) P1 (Rotation Matrices)
• 2D Coordinate Transformation
• 3D Coordinate Transformation

Robot Kinematics

• Jacobian Matrix
• Change of Variables and the Jacobian
• Robot Singularities
• Singularities
• 2D Inverse Kinematics with Graphic Visualization
• Numerical Inverse Kinematics (1)
• Numerical Inverse Kinematics (2)
• Odometery

Robot Dynamics and Control

• ETH Zurich Robot Dynamics Lecture Notes
• Introduction to Lagrangian Mechanics
• Simple Pendulum via Lagrangian Mechanics
• Lagrangian Formulation of Robot Dynamics
• Inverse Dynamics
• Largangian Multipliers
• Constrained Lagrangian Mechanics
• PID Control Explained with Robotics
• Imedpance and Admittance Control
• Task Space Dynamics
• Redundant Manipulator Control with Nullspace Projection
• Hybrid Position/Force Control
• Model Predictive Control
• Anatomy of a Dynamical System

Motion Planning

• RRT
• Motion Planning in C-Space
• Motion Planning Tutorial

Robot Electronics and Embedded System

• BLDC Motors
• DC Motor Speed-Torque Plane
• DC Motor Speed-Torque Curve
• Field Oriented Control
• Back EMF
• Encoder
• Serial Communication
• Control Area Network (CAN)
• EtherCAT

Robot Mechanism

• Reflection of a Motor
• Degrees of Freedom of a Robot
• Underactuated Systems
• Bearing
• Gears
• Backlash
• Planetary Gears
• Timing Belts and Pulleys
• Cable-Driven Transmission
• Series Elastic Actuators
• MIT Mini Cheetah Actuator Teardown
• Stiffness and Damping Identification
• Rolling Contact Joint

Machine Learning

• Residual and Least Squares Regression
• Neural Network
• Gradient Descent
• Graident Descent in Deep Learning
• Neural Network Architectures
• Backpropagation
• Transformer (1)
• Transformer (2)

Locomotion

• Zero Moment Point

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Robot Operating System (ROS)

• ROS 2 Documentation
• Official ROS 2 Tutorials
• ROS 2 Tutorials by Articulated Robotics
• URDF

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Online Courses

Online lecture series and courses on robotics.

Mathematics

Linear Algebra

• Linear Algebra by Gilbert Strang at MIT
• Essence of Linear Algebra by Grant Sanderson (3Blue1Brown)
• Linear Algebra by Khan Academy

Differential Equation

• Differential Equationby Khan Academy

Probability

• Statistics 110: Probability by Joe Blitzstein at Harvard University

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Robot Mechanics, Design, and Control

Robotic Manipulation

• Modern Robotics by Kevin Lynch at Northwestern University
• Robotic Manipulation by Russ Tedrake at MIT

Robot Mechanism Design

• Applied Robot Designby Reuben Brewer at Stanford University

Robot Control

• Underacutated Robotics by Russ Tedrake at MIT
• Convex Optimization by Stephen Boyd at Stanford University
• Optimal Control by Zachery Manchester at CMU
• Control Bootcamp by Steven Brunton at University of Washington

https://people.eecs.berkeley.edu/~pabbeel/cs287-fa19/

Robot Perception and Navigation

Computer Vision

• Modern Computer Vision at UC Berkeley

  SLAM

• Robot Mapping by Cyrill Stachniss at University of Bonn

Embedded System

• Intro to Embedded Systems by Jonathan Valvano at UT Austin
  • edX