Robotics Minicourse on Planning and Kinematics

a secondary syllabus

Course description

This is a minicourse sometimes appearing within the course Robotics. Please see that page for more information.


Francesco Bullo and Stephen L. Smith. Lectures on Robotic Planning and Kinematics. 2020. (Required (free). Henceforth: PK)

Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Robotics: Modelling, Planning and Control. Springer London, 2009. (Recommended. Henceforth: Si)

LRPK bük edition

I got permission from the PK authors to adapt their book into my new bük format. This digital text with integrated video lectures (and more) is available at

My lectures will be integrated with the bük edition, which will be abbreviated “PK” interchangeably with the original work.


The following schedule is tentative.

day topics week bük due
Sensor-based planning 3 PK Ch 1 Ass. 1
Motion planning via decomposition and search 4 PK Ch 2
Configuration spaces 5 PK Ch 3 Ass. 2, 3
Intro to kinematics and rotation matrices 6 PK Ch 6 Ass. 4
Rotation matrices, displacement matrices, inverse kinematics 7 PK Chs 7+8 Ass. 5
Linear and angular velocities of a rigid body 8 PK Ch 9 Ass. 6


Assignments are due Saturday of the week they appear on the schedule. Bold exercises are required only for graduate students.

Assignment 1

Assignment 2

Assignment 3

Assignment 4

Assignment 5

Assignment 6