Lecture 4 | Introduction to Robotics

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 the Course:
http://www.youtube.com/view_play_list?p=65CC0384A1798ADF

CS 223A Course Website:
http://cse.stanford.edu/class/cs223a/

Stanford University:
http://www.stanford.edu/

Stanford University Channel on YouTube:
http://www.youtube.com/stanford

Category:

Education

Tags:

• Computer
• Science
• robotics
• design
• Technology
• programming
• matrix
• algebra
• motion
• planning
• humanoids
• AI
• artificial
• intelligence
• hummingbird
• minipositioner
• kinematics
• manipulators
• links
• denavit-hartenberg
• notation
• frame
• attachment
• transformat

[bassefa1984]

Professors should utilize technology to explain these types of concepts. See /watch?v=rA9tm0gTln8

3 min vs 1 hr ... you decide :)

[bhoot87]

He said something wrong at 37:00 ..

[madJesterful]

47:20 has a really good explanation of the choices of axis. This was kind of confusing me before.

[8809aj]

Very interesting lecture. Professor Khatib explains these problems really well. Thank you for this video.

[amightyo]

For a Revolute joint d is constant and set to zero while Theta is the variable and for a Prismatic joint Theta is constants and set to zero while d is the variable. I now have a clearer understanding of DH parameters. Many thanks for the lecture!!!!