16-Lecture Course: Introduction to Robotics (CS223A)

September 22, 2010 · 4 comments

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This course introduces basics of modeling, design, planning, and control of robot systems. Topics covered include: kinematics, dynamics, control, motion planning, trajectory generation, programming and design. An understanding of matrix algebra is useful to watching this course.

The course is taught by Professor Oussama Khatib at Stanford University.

Course Materials

Lecture 1 | Introduction to Robotics (#1)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. 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. Complete Playlist for the Course: http://www....

Lecture 2 | Introduction to Robotics (#2)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a video on Walking Machines then goes into his first topic -- Kinematics. 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. Complete Playlist for the Course: http...

Lecture 3 | Introduction to Robotics (#3)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on Flexible Microactuators and continues lecturing on Kinematics and Spatial Descriptions. 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. Complet...

Lecture 4 | Introduction to Robotics (#4)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on a device called The Hummingbird, and then begins Manipulator Kinematics. 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. Complete Playlist for ...

Lecture 5 | Introduction to Robotics (#5)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on the Brachiation Robot, then goes into a lecture on Frame Attachment. 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. Complete Playlist for the ...

Lecture 6 | Introduction to Robotics (#6)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on Locomotion Gates with Polypod, then lectures on Instantaneous Kinematics and the Jacobian Matrixes. 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 Desi...

Lecture 7 | Introduction to Robotics (#7)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on a robot playing beach volleyball, then continues The Jacobian. 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. Complete Playlist for the Course...

Lecture 8 | Introduction to Robotics (#8)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on Mobile Robots: Automatic Parallel Parking, then finishes Kinematic Singularity and the Jacobian. 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 9 | Introduction to Robotics (#9)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Guest lecturer Gregory Hager covers Perception and Sensing in Robotic Mobility and Manipulation. 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. Complete Playlist for the Course: http...

Lecture 10 | Introduction to Robotics (#10)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Guest lecturer Krasimir Kolarov (co-writer of the lecture notes along with Professor Khatib) presents Trajectory Generation. 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. Complete P...

Lecture 11 | Introduction to Robotics (#11)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on The Robotic Reconnaissance Team, then begins lecturing on Dynamics. 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. Complete Playlist for the C...

Lecture 12 | Introduction to Robotics (#12)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on An Innovative Space Rover with Extended Climbing Abilities, then continues his lecture on Dynamics. 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 Desi...

Lecture 13 | Introduction to Robotics (#13)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video on Juggling Robots, then lectures on robotics control. 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. Complete Playlist for the Course: http://ww...

Lecture 14 | Introduction to Robotics (#14)

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

Lecture 15 | Introduction to Robotics (#15)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. Professor Khatib shows a short video about On the Run: The Leg Laboratory, then continues to lecture on Control. 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. Complete Playlist for ...

Lecture 16 | Introduction to Robotics (#16)

- Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department. 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. CS223A is an introduction to robotics which covers topics such as Spatial Descriptions, Forward Kinematics, Inverse Kinematics, Jacobians, Dynamics, Motion Planning and Tra...

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{ 4 comments… read them below or add one }

enass hassen April 29, 2011 at 9:28 am: dear sir
they are a great lectures
Im aph.D student from a mechanical department in university of technology in Iraq I tried to downloading them over and over with no use
can you send me the full records of the lectures to my department as a hard copy.
thank you
Asst.lecturer enass hassen flaieh
mechanical department
univerity of technology

Reply
ALI ABUASSAL June 29, 2011 at 9:19 am: dear sir
This an excellent lectures. I’m very enjoy with your lectures and I’m very interested about this side
Now I’m doing master of mechatronics and automatic control engineering
Thank you

Reply
zakarya July 19, 2011 at 7:12 am: The peace on you rule in request of opportunity advances to your scientific research in domain of the originality and the invention im zakarya from algeria city lives in chlef and blessing born in1985 actually i have talent in the drawing the mechanical human draws robot perfect method and modern originality and i have idea in operating human to in air of the oxygen and begins you little from the electricity and too in technological developed and metabolisms draws design for cars modern and this from intellectual horseman and as what knows there is not of possibilities and methods of methods and instruments needed for the application and the invention so your rule hopes from the assistant for the affiliation in concentrated your for the scientific invention and the research and thanks is email hadi-zakaria@hotmail.com

Reply
Febriansyah October 11, 2011 at 7:04 am: this is a great lecture sir!
i am a lecturer at lampung university, indonesia.
i wish i will expert as you sir.
thanks for share the materials of the lecture.

Reply

16-Lecture Course: Introduction to Robotics (CS223A)

Lecture 1 | Introduction to Robotics (#1)

Lecture 2 | Introduction to Robotics (#2)

Lecture 3 | Introduction to Robotics (#3)

Lecture 4 | Introduction to Robotics (#4)

Lecture 5 | Introduction to Robotics (#5)

Lecture 6 | Introduction to Robotics (#6)

Lecture 7 | Introduction to Robotics (#7)

Lecture 8 | Introduction to Robotics (#8)

Lecture 9 | Introduction to Robotics (#9)

Lecture 10 | Introduction to Robotics (#10)

Lecture 11 | Introduction to Robotics (#11)

Lecture 12 | Introduction to Robotics (#12)

Lecture 13 | Introduction to Robotics (#13)

Lecture 14 | Introduction to Robotics (#14)

Lecture 15 | Introduction to Robotics (#15)

Lecture 16 | Introduction to Robotics (#16)

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