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

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

Jacobian and 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

Motion Planning

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

Euler-Lagrangian Dynamics

• Simple Pendulum via Lagrangian Mechanics
• Lagrangian Formulation of Robot Dynamics
• Inverse Dynamics

Machine Learning

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

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Robot Operating System (ROS)

Basics of ROS 2

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

Navigation

• Nav2 ROS 2 Package
• TurtleBot 3 Navigation

Motion Planning

• Moveit 2

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Online Courses

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 and Control

Robotic Manipulation

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

Optimal Control

• Underacutated Robotics by Russ Tedrake at MIT
• Convex Optimization by Stephen Boyd at Stanford University
• Optimal Control by Zachery Manchester at CMU

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Robot Perception and Navigation

Computer Vision

• Modern Computer Vision at UC Berkeley

  SLAM

• Robot Mapping by Cyrill Stachniss at University of Bonn

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Embedded System

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