Introduction to Robotics – Stanford University

Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department.

Lecture 1 | Introduction to Robotics

In the first lecture of the quarter, Professor Khatib provides an overview of the course. CS223A is an introduction to robotics which covers topics such as Spatial Descriptions, Forward Kinematics, Inverse Kinematics, Jacobians, Dynamics, Motion Planning and Trajectory Generation, Position and Force Control, and Manipulator Design.

Lecture 2 | Introduction to Robotics

Professor Khatib shows a video on Walking Machines then goes into his first topic — Kinematics.

Lecture 3 | Introduction to Robotics

Professor Khatib shows a short video on Flexible Microactuators and continues lecturing on Kinematics and Spatial Descriptions.

Lecture 4 | Introduction to Robotics

Professor Khatib shows a short video on a device called The Hummingbird, and then begins Manipulator Kinematics.

Lecture 5 | Introduction to Robotics

Professor Khatib shows a short video on the Brachiation Robot, then goes into a lecture on Frame Attachment.

Lecture 6 | Introduction to Robotics

Professor Khatib shows a short video on Locomotion Gates with Polypod, then lectures on Instantaneous Kinematics and the Jacobian Matrixes.

Lecture 7 | Introduction to Robotics

Professor Khatib shows a short video on a robot playing beach volleyball, then continues The Jacobian.

Lecture 8 | Introduction to Robotics

Professor Khatib shows a short video on Mobile Robots: Automatic Parallel Parking, then finishes Kinematic Singularity and the Jacobian.

Lecture 9 | Introduction to Robotics

Guest lecturer Gregory Hager covers Perception and Sensing in Robotic Mobility and Manipulation.

Lecture 10 | Introduction to Robotics

Guest lecturer Krasimir Kolarov (co-writer of the lecture notes along with Professor Khatib) presents Trajectory Generation.

Lecture 11 | Introduction to Robotics

Professor Khatib shows a short video on The Robotic Reconnaissance Team, then begins lecturing on Dynamics

Lecture 12 | Introduction to Robotics

Professor Khatib shows a short video on An Innovative Space Rover with Extended Climbing Abilities, then continues his lecture on Dynamics.

Lecture 13 | Introduction to Robotics

Professor Khatib shows a short video on Juggling Robots, then lectures on robotics control.

Lecture 14 | Introduction to Robotics

Professor Khatib shows a short video on A Finger-Shaped Tactile Sensor Using An Optical Waveguide, then lectures on Robot control and the one degree of freedom.

Lecture 15 | Introduction to Robotics

Professor Khatib shows a short video about On the Run: The Leg Laboratory, then continues to lecture on Control.

Lecture 16 | Introduction to Robotics

For the last meeting of the quarter, Professor Khatib shows a short video on PUMA robots demonstrating compliant motion and force control, lectures on Compliance, and shows the class various types of robots.

Stanford

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