Exam summary: Robot Dynamics

In the autumn semester of 2018 I took the course Robot Dynamics. The summary I took with me to the exam is available here in PDF format as well as in LaTeX format. Here’s an overview of the topics the course covered:

  1. Kinematics
    • Rotation and angular velocity
    • Rigid Body Formulation
    • Homogeneous transformations
    • Kinematics of systems of bodies
    • Jacobians
    • Kinematic control methods
    • Inverse differential kinematics
    • Inverse kinematics
    • Rotation error
    • Multi-task control
  2. Dynamics
    • Multi-body dynamics
    • Floating-base dynamics
    • Dynamic model based control methods
    • Dynamic modelling and control of legged robots
  3. Rotorcraft: dynamic modelling and control
  4. Fixed-wing aircraft: dynamic modelling and control
  5. Case studies
    • ANYmal: legged robotics case study
    • Multicopter case study
    • AtlantikSolar: solar-powered UAVs
    • Wingtra: vertical take-off and landing (VTOL) UAVs