Foundations of Robotics

The goal of this project is to provide a comprehensive introduction and overview to the foundations of robotics. I will mainly focus on the theoretical foundations of robotics, including kinematics, dynamics, control, motion planning, perception, and nowdays, machine learning, deep learning, reinforcement learning, and other modern techniques. I stand on the shoulders of giants, and I will try to provide a comprehensive overview of the field, but only focusing on the most important concepts and theory.

Basics:

• Linear Algebra
  • 5 Factorizations
• Robot Dynamics

Control:

• Control Theory
• Optimal Control
• Numerical Optimal Control

Learning:

• Machine Learning
• Deep Learning
• Reinforcement Learning

Vision:

• Deep Learning for Computer Vision
• Vision Algorithm for Mobile Robotics

Planning:

• Motion Planning
• Optimization

Case Studies:

• Quadrotor
• Manipulator
• Legged Robots