Robotics
programming and simulation
This page contains the draft text Robotics: programming and simulation.
Single file
A single pdf with all lectures can be downloaded here.
Individual lecture files
Click the thumbnails on the notes below to get a pdf version.
01.00 Introduction
01.01 Defining robots
01.02 Robot mechanicality
01.03 Robot sensitivity
01.04 Robot potency
01.05 Robot intelligence
01.06 Robot artificiality and artificial life
01.07 Robot autonomy and human robot collaboration
01.08 Exercises for Chapter 01
02.00 Embodiment
03.00 Robot mechanics
04.00 Robot control architectures
04.01 Deliberative control
04.02 Reactive control
04.03 Hybrid control
04.04 Behavior based control
04.05 Exercises for Chapter 04
05.00 Introducing ROS
05.01 ROS methodology
06.00 ROS basics
06.01 ROS graphs
06.02 ROS packages
06.03 Running and launching ROS nodes
06.04 Coordinate frame transformations
07.00 ROS topics
07.01 Publishing to topics
07.02 Subscribing to topics
07.03 Custom messages
07.04 Other considerations
08.00 ROS services
08.01 Introducing ROS services
08.02 Serving and calling a ROS service
09.00 ROS actions
09.01 Introducing ROS actions
09.02 Serving and calling a ROS action
10.00 Bibliography
R1.00 Resource R1 Setting up the development environment
R2.00 Resource R2 Getting the textbook code
R3.00 Resource R3 Installing and configuring git