Robotics Mathematical modeling and theory with Python (learning through extensive numerical simulations and animations.)

Original materials from Pranav Bhounsule's robotics lecture and Github

1. Install Python - Version greater than 3.8.0
2. Install required packages

# please use pip or pip3
pip install numpy sympy scipy control matplotlib 

# for windows users
pip install msvc-runtime kiwisolver

• Lecture 1 - python basics for robotics programming

• Lecture 2 - Homogeneous Matrix and Forward Kinematics

• Lecture 3 - Differential Drive robot's FK and IK, Trajectory Following

• Lecture 4 - Equations of motion, Expressing Dynamics through python

• Lecture 5 - sympy specification

• Lecture 6 - Dynamics based Double pendulum modeling (without and torque)

• Lecture 7 - About Jacobian and it's usages

• Leture 8 - Hybrid Dynamics (jumping ball)

• Leture 9 / 22 - Passive Dynamic Walker Modeling and simulation / Dynamic Walker

• Leture 10 - Control Optimization

• Lecture 11 - Trajectory generation (position/velocity/torque traj)

• Lecture 12 - Control (Feedback Linearization)

1. PID Control
2. Feedback Linearization Control
3. Torque base Trajectory control

• Lecture 13 - Control (Linear Control)

1. Stabilize double pendulum based on LQR

• Lecture 14 - Bicopter Modeling and Simulation

• Lecture 15 - Observability and Controllability

Check Observability and learn how Kalman Filter works

• Lecture 16 - 3D rotations

• Lecture 17 - 3D dyanmics (free fall in 3D world)

• Lecture 18 - 3D quadcopter modeling and control

• Lecture 19 - 3D manipulator modeling and Inverse Kinematics

• Lecture 20 / 21 - SLIP (Spring Loaded Inverted Pendulum) & Raibert Hopper

• Lecture 29 - Humanoid Biped Robot

• Advanced Lecture - Inverted Pendulum

• Advanced Lecture - Linear MPC with Spring Mass Damper

• Advanced Lecture - Non-Linear MPC with Mobile Robot and Inverted Pendulum

• Lecture notes (https://roadbalance_edu.teachable.com/)
• Youtube Tutorial (https://www.youtube.com/@road_balance)
• Simulation program examples - Isaac Sim, Ignition
• Real Robot Example