Lecture 1 - Introduction

Abstract

This lecture presents the structure of the course and showcase examples of using dynamical systems to control robots. It introduces the core concepts detailed in the rest of the book, starting with the fundamental robotics problem of planning a trajectory in free space. Globally convergent, accurate and fast motion planning is a challenge to execute which depends largely on robot design and knowledge of the environment. To face this challenge, path planning using dynamical systems offers a robust, stable and reactive solution, provided the dynamical system is adapted to the required task.

Lecture Video

Slides

Click here to download a pdf version of the ppt presentation.

Exercises Instructions

Click here to download a pdf of the instructions for the exercises.

Code for MATLAB Exercises

The recommended way to do the MATLAB exercises is to download the entire repository once, then go to each lecture's folder. Detailled instructions for installation can be found on the Software page.

Click here to download the corresponding exercise for this lecture as a zip file.
Note you will also need this libraries folder placed with the correct directory structure.

First Theoretical Exercise Solution

Click here to download a pdf of the solution of the first handwritten exercise.

Robotic Implementation