eogml88/robotics_python

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

Robotics Python

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

Original materials from Pranav Bhounsule's robotics lecture and Github

Dev Env Setup

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

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• 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

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Ongoing tasks

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