series
Introduction to Robotics
A planned series that introduces robots as systems of structure, actuation, sensing, and computation connected by feedback.
This series is planned and has not started publishing. The outline below describes the intended scope and may change before any entry is written.
Entries
What Is a Robot? Components and the Sensing-Acting Loop
A vocabulary for the parts of a robot and how information and energy flow between them.
Not written yet.
Coordinate Frames and Rigid-Body Transformations
Describing where things are, and how to convert between frames using rotations and translations.
Not written yet.
Forward and Inverse Kinematics of a Planar Arm
Computing end-effector position from joint angles, and the harder problem of going the other way.
Not written yet.
Sensing and State Estimation: An Overview
Why robots rarely observe their state directly, and the basic idea of combining a model with noisy measurements.
Not written yet.