Artificial Intelligence | Introduction to Robotics
Course Meetings: 1658 min*Topics: Course Overview, History of Robotics Video, Robotics Applications, Related Stanford Robotics Courses, Lecture and Reading Schedule, Manipulator Kinematics, Manipulator Dynamics, Manipulator Control, Manipulator Force Control, Advanced Topics Transcript: HTML | PDF
1 hr 8 minTopics: Spatial Descriptions, Generalized Coordinates, Operational Coordinates, Rotation Matrix, Example - Rotation Matrix, Translations, Example - Homogeneous Transform, Operators, General Operators Video clip “GH Walking Machines: Passive Walking,” Tad McGreer, Fraser Univ. British Columbia, ICRA 1991 Video Proceedings, courtesy IEEE.
(© 1991 IEEE)
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1 hr 17 minTopics: Homogeneous Transform Interpretations, Compound Transformations, Spatial Descriptions, Rotation Representations, Euler Angles, Fixed Angles, Example - Singularities, Euler Parameters, Example - Rotations Video clip “Flexible Microactuator,” Toshiba, ICRA 1991 Video Proceedings courtesy IEEE
(© 1991 IEEE)
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1 hr 12 minTopics: Manipulator Kinematics, Link Description, Link Connections, Denavit-Hartenberg Parameteres, Summary - DH Parameters, Example - DH Table, Forward Kinematics Video clip “The Hummingbird,” IBM Watson Research Center, ICRA 1992 Video Proceedings courtesy IEEE
(© 1992 IEEE)
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1 hr 7 minTopics: Summary - Frame Attachment, Example - RPRR Manipulator, Stanford Scheinman Arm, Stanford Scheinman Arm - DH Table, Forward Kinematics, Stanford Scheinman Arm - T-Matrices, Stanford Scheinman Arm - Final Results Video clip “Brachiation Robot,” Nagoya University, ICRA 1993 Video Proceedings courtesy IEEE
(© 1993 IEEE)
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1 hr 11 minTopics: Instantaneous Kinematics, Jacobian, Jacobians - Direct Differentiation, Example 1, Scheinman Arm, Basic Jacobian, Position Representations, Cross Product Operator, Velocity Propagation, Example 2 Video clip “Locomation Gates with Polypod,” Mark Yim, Stanford University, ICRA 1994 Video Proceedings courtesy IEEE
(© 1994 IEEE)
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1 hr 9 minTopics: Jacobian - Explicit Form, Jacobian Jv / Jw, Jacobian in a Frame, Jacobian in Frame {0}, Scheinman Arm, Scheinman Arm - Jacobian, Kinematic Singularity Video clip “Beach Volleyball,” Toshiba, ICRA 1999 Video Proceedings courtesy IEEE
(© 1999 IEEE)
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1 hr 15 minTopics: Scheinman Arm - Demo, Kinematic Singularity, Example - Kinematic Singularity, Puma Simulation, Resolved Rate Motion Control, Angular/Linear - Velocities/Forces, Velocity/Force Duality, Virtual Work, Example Video clip “Mobile Robots: Automatic Parallel Parking,” INRIA, ICRA 1999 Video Proceedings courtesy IEEE
(© 1999 IEEE)
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1 hr 16 minTopics: Intro - Guest Lecturer: Gregory Hager, Overview - Computer Vision, Computational Stereo, Stereo-Based Reconstruction, Disparity Maps, SIFT Feature Selection, Tracking Cycle, Face Stabilization Video, Future Challenges Transcript: HTML | PDF
1 hr 2 min*Topics: Trajectory Generation - Basic Problem, Cartesian Planning, Cubic Polynomial, Finding Via Point Velocities, Linear Interpolation, Higher Order Polynomials, Trajectory Planning with Obstacles Transcript: HTML | PDF
1 hr 14 minTopics: Joint Space Dynamics, Newton-Euler Algorithm, Inertia Tensor, Example, Newton-Euler Equations, Lagrange Equations, Equations of Motion Video clip “Robotic Reconnaissance Team,” U of Minnesota, ICRA 2000 Video Proceedings courtesy IEEE
(© 2000 IEEE)
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1 hr 14 minTopics: Lagrange Equations, Equations of Motion, Kinetic Energy, Equations of Motion - Explicit Form, Centrifugal and Coriolis Forces, Christoffel Symbols, Mass Matrix, V Matrix, Final Equation of Motion Video clip “Space Rover,” EPFL, Switzerland, ICRA 2000 Video Proceedings courtesy IEEE
(© 2000 IEEE)
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1 hr 10 minTopics: Control - Overview, Joint Space Control, Resolved Motion Rate Control, Natural Systems, Dissipative Systems, Example, Passive System Stability Video clip “Juggling Robot,” Dan Koditschek, U of Michigan, ISRR 1993 Video Proceedings courtesy IEEE
(© 2000 IEEE)
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1 hr 13 minTopics: PD Control, Control Partitioning, Motion Control, Disturbance Rejection, Steady-State Error, PID Control, Effective Inertia Video clip “A Finger-Shaped Tactile Sensor Using an Optical Waveguide,” H. Maekawa et al., MEL, AIST-MITI, Tsukuba, Japan, ICRA 1993 Video Proceedings courtesy IEEE
(© 1993 IEEE)
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1 hr 12 minTopics: Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking Video clip “On the Run,” Marc Raibert, MIT, ISRR 1993 Video Proceedings courtesy IEEE
(© 1993 IEEE)
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1 hr 10 minTopics: Compliance, Force Control, Dynamics, Task Description, Historical Robotics, Stanford Human-Safe Robot, Task Posture and Control, Multi-Contact Whole-Body Control
Transcript: HTML | PDF
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*Segments of this lecture have been edited out due to copyright restrictions.
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