SEE

Artificial Intelligence |
Introduction to Robotics

Instructor: Khatib, Oussama

(return to course)

Course Meetings: 16

Lecture 1    View Now >

58 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
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Lecture 2    View Now >

1 hr 8 min

  • Topics: 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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Lecture 3    View Now >

1 hr 17 min

  • Topics: 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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Lecture 4    View Now >

1 hr 12 min

  • Topics: 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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Lecture 5    View Now >

1 hr 7 min

  • Topics: 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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Lecture 6    View Now >

1 hr 11 min

  • Topics: 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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Lecture 7    View Now >

1 hr 9 min

  • Topics: 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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Lecture 8    View Now >

1 hr 15 min

  • Topics: 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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Lecture 9    View Now >

1 hr 16 min

  • Topics: 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
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Lecture 10    View Now >

1 hr 2 min*

  • Topics: Guest Lecturer: Krasimir Kolarov, Trajectory Generation - Basic Problem, Cartesian Planning, Cubic Polynomial, Finding Via Point Velocities, Linear Interpolation, Higher Order Polynomials, Trajectory Planning with Obstacles
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Lecture 11    View Now >

1 hr 14 min

  • Topics: 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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Lecture 12    View Now >

1 hr 14 min

  • Topics: 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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Lecture 13    View Now >

1 hr 10 min

  • Topics: 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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Lecture 14    View Now >

1 hr 13 min

  • Topics: 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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Lecture 15    View Now >

1 hr 12 min

  • Topics: 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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Lecture 16    View Now >

1 hr 10 min

  • Topics: Compliance, Force Control, Dynamics, Task Description, Historical Robotics, Stanford Human-Safe Robot, Task Posture and Control, Multi-Contact Whole-Body Control
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*Segments of this lecture have been edited out due to copyright restrictions.

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