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:
- 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
- Dynamics
- Multi-body dynamics
- Floating-base dynamics
- Dynamic model based control methods
- Dynamic modelling and control of legged robots
- Rotorcraft: dynamic modelling and control
- Fixed-wing aircraft: dynamic modelling and control
- Case studies
- ANYmal: legged robotics case study
- Multicopter case study
- AtlantikSolar: solar-powered UAVs
- Wingtra: vertical take-off and landing (VTOL) UAVs