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MIT 6.4210
Robotic Manipulation
Lecture 1: Introduction
Lecture 2: Learning-Based Approaches to Robotics
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Has AI Solved Robotics?
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Reinforcement Learning
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Behavior Cloning
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Training in Practice
Lecture 3: Frames, Monogram Notation, and Rotations
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Frames
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Monogram Notation
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Rotation Matrices
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Roll, Pitch, Yaw (Euler Angles)
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Axis-Angle
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Quaternions
Lecture 4: Basic Kinematics
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Task vs. Configuration Space
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Forward Kinematics
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Inverse Kinematics
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Differential Kinematics: Analytic Jacobian
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Differential Kinematics: Geometric Jacobian
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Inverse Differential Kinematics: Pseudo-Inverse
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Inverse Differential Kinematics: Singularities and Damping
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Addendum: Velocities and Change-Of-Frame
Lecture 5: Inverse Kinematics via Optimization
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Inversion as Optimization: Constraints
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Inversion as Optimization: Joint Centering
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Trajectory Optimization
Lecture 6: Motion Planning
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Motion Planning: Setup
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Motion Planning: Obstacle Space
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Combinatorial Planning
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Sampling-Based Planning
Lecture 7: Statics and Grasping
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Forces: Spatial Force
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Modeling Contacts
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Grasping: Is It Possible?
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Closure
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Heuristic Grasping
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Learned Grasping