Lecture 2 | Introduction to Robotics
ฝัง
- เผยแพร่เมื่อ 16 พ.ค. 2024
- 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:
th-cam.com/users/view_play_list...
CS 223A Course Website:
cse.stanford.edu/class/cs223a/
Stanford University:
www.stanford.edu/
Stanford University Channel on TH-cam:
/ stanford
what a great contribution to every robotics student around the world...thank you Stanford and Professor Khatib for sharing this.
Thank you Stanford and professor Oussama Khatib, its a great material!!!!
after hearing the lectures, i am getting huge fan of dr khatib
Standford save my day
Thanks!!!
just what i was looking for, thanks Stanford!!
If Richard Geere and Sylvester Stalone would merge into one person...
But enough of that, i love this lecture series. Not new, but also not outdated. I believe this gives a good basic understanding of robotics and might even enable for own own advanced tinkering.
Thank you stanford !!
it´s helping a lot
very informative and excellently presented course
Thank you dear sir for providing such a impressive lecture on it ..
teaching and concepts are clear and outstanding teaching sir
THANK YOU SIR VERY NICELY EXPLAINED
I am taking a Robotics class this semester, but watching this is more helpful than attending my boring class. THANKS!!
x2
Bravo Stanford !
Excellent video
muchas gracias stanford,desde colombia
great lectures!
Excellent! Thx!
Simply fantastic. Informative and clear.
+Robin Sayers how do we apply this or translate all this into programming such as C++ or C# ? "obj oriented language" ? im trying to put a Humanoid Robot together and worry about limb collision while servoing and im not sure im getting solid detail by this videos , if i was in this lecture i be that guy raising my hand every other word outta Mr. Khatib mouth
Excellent!
that's GREAAAAAAAAAT & nuch better than MIT free courses
cs.stanford.edu/groups/manips/teaching/cs223a/
the course website
Awesome!
Awesome course..very well presented course
+Anand Badurkar how do we apply this or translate all this into programming such as C++ or C# ? "obj oriented language" ? im trying to put a Humanoid Robot together and worry about limb collision while servoing and im not sure im getting solid detail by this videos , if i was in this lecture i be that guy raising my hand every other word outta Mr. Khatib mouth
@@FrankLopezx This course is just basic, I'm a mechatronics eng student, we hav a similar course in 3rd sem.. wht u want to accomplish will require another course, the subjects a bit deep, u just can't build a robot after doing an introductory course which here discusses only the mathematical models..
great job
Does someone can explain me the aXb Dot Product matrix shown at Rotation Matix slide (39:40 in this video)? Where it comes from ? (I know how to make a dot product) but I don't see here why we do this in this way (I mean XB multiplied by X, Y and Z of A) why not just Xb with Xa for example ?
Where can i get the syllabus for this course or info on reading assignments... and books required along and possibly a lab workbook? im not sure if this course has a lab section to it. but that would be great.
fantastic
i dont understand what makes the parameters and what gives them their dimensions and what relation is this to an actual object
Thank so much. But I think it is very complicated. Shoud you show the using of cross product and dot product
good course
where can we practice assignments or examples?
superb
Good thank for this course, are you this course in PDF file?
Yeah! Simon Fraser University Engineering, British Columbia, Canada!!!!!!!!!!!!!!
Experience is experience.
A really great teacher , Oussama Khatib. Thank you for the course. Is there any reading material available about these lectures ?
+Frank Lopez my friend , I am not understanding you much. But from my experience I can say you should choose a Simulator first that fits best with your work. Then applying these concepts in code will depend on that particular Simulator. I recently have worked a little in evolutionary robotics and have used the Bullet Physics Engine for my work(it is C++) . I can show you if you want a sample of it.
+Frank Lopez my Email is janzaibaloch786@gmail.com I am interested in what you are doing. Can we discuss this in more detail ?
+Frank Lopez Yeah sure, I am janzaib.masood786 on skype. Maybe I can be of some help.
thanks for sharing "cyberxxxpunker"
The link of the course "CS 223A Course" doesn't work
"Now that you understand I'm going to confuse you?" Imagine Dave Chapelle, saying this line.
39:40 Can anyone please explain to me what the reference frame of Xb, Xa, Ya, and Za is? Because as prof. Khatib said before, a vector has to have a reference frame. So I am confused to which frame the vectors Xa, Ya, Za, and Xb are referred. Thank you!!
Ok, I figured it out myself :)) thank "me"
thanks for courses. MR Oussama i found a mistake in calculations. 57.10 min on video when you calculate AP , you found 0 2 2 1 ... But it must be 0 4 2 1 .. with all respect
It should be 0 2 2 1, -1+3=2
Google"CS223A", the course website is the first result
I do have a question here, how can we know that there are 5 constraints in each joint?
siti ali When we free all the links then we have 6 DOFs. Now each joint has 1 DOF (i.e. it is allowed movement only in 1 direction, either rotation or translation), so when we connect the links again we are left with only 1 DOF out of 6, i.e. we have 5 constraints in each joint. So, 6n - 5n = n is the DOFs and we need lesser number of parameters to define the system (End Effector w.r.t. base.).
+Parmod Kumar how do we apply this or translate all this into programming such as C++ or C# ? "obj oriented language" ? im trying to put a Humanoid Robot together and worry about limb collision while servoing and im not sure im getting solid detail by this videos , if i was in this lecture i be that guy raising my hand every other word outta Mr. Khatib mouth
how do we apply this or translate all this into programming such as C++ or C# ? "obj oriented language" ? im trying to put a Humanoid Robot together and worry about limb collision while servoing and im not sure im getting solid detail by this videos , if i was in this lecture i be that guy raising my hand every other word outta Mr. Khatib mouth
+Frank Lopez i think you use 3D arrays combined with softwares such as Matlab ...if you found a better method please do reply because im also working on an exoskeleton and having difficulties in it
Marlon Keppitipola what type of difficulties ? i been just writing the formulas straight out no libraries just using basic mathOperators since no one replied to this Q for a long time now. ever since then i been focusing on just prototyping small med size robots including a humanoid i been on for awhile now but yes im not a matlab person i use VS2013 and Arduino/Processing for code tools/EDI's
Hmm I see.. Hmm well since you self taught everything and basically did most on your own... Could you advice me on how I should approach mine.... Its a lower body exoskeleton that supports the clergy and the disabled which helps them get back on their Feet.... This is my final year project for my uni... I'm doing mechatronics engineering... I have till next year February.. So what areas do I Havr to cover and how should I approach it.. I already know c programming well.. Know a basic idea of arduino and vague idea of pic... Some knowledge in maths as well since it's all we do in campus... And basic idea in proteus simulation .... Hope to hear from u soon sir
Marlon Keppitipola PM me your skype/email via this site just click on my profile pic that should take you to my inbox
i apologize for the delay ....i had some work to do at campus...ah im having difficulty sending you my email since i rarely use my google plus account...could you add me and send me an email so i can reply you with mine?
boston dynamics: please stop putting automatic weapons on your heavy robots.
Transformation matrix 2nd row 3 rd column should be -1
Hey. Hello I'm also just watching this video. We can study together contact me @ oluwaseunadeyera@gmail.com
زمان الراجل ده عجز
Could you please update this course? Robotics has developed and changed a lot in these 11 years.
Hello. I think the basics matters the most. But in case you know some advanced and updated stuffs please link me up as I am interested
Nothing changes when we talk about the fundamentals.
@@yassineyoussef1 Thanks for your reply after one year! That's true for the knowledge itself. But there should be lots of changes in the way of teaching, examples, and visuals. It's already a good lecture, I appreciate the selfless share of Standford.
@@jamesjian8868 Thanks James for your response. It s not question of one year, even your comment came 10 years after this video posted hhhh. It was just a reflection to say that the conference is about fundamentals which are useful to this day. Best wishes.
@@adeyeraoluwaseun5288 Personally, I think Underactuated Robotics from MIT is a great course to step further.
i dont like lectures with very few real number examples... but good course nonetheless. I suppose ill try to find some examples
Then you really wouldn't like a course about imaginary numbers ('cause they don't have real numbers in them)
Although this Prof is a Muslim but he teaches perfectly
What has religion got to do with teaching ability?
م.أمجد الفلسطيني idiot detected...!
you such an anal
oh dear what does being muslim hv to do with teaching.
What does his religion has to do with anything ??...