Models, integration, geometry, rigid-body dynamics, constraints, contact, and simulation engines.
Simeon Nedelchev · 14 lectures · 7 practices · https://simeon-ned.github.io/robotic_systems/
Lectures
| Week | Lecture | Materials |
|---|---|---|
| 1 | 1. Models, states, and simulation experiments | Notes · Slides · Practice |
| 1 | 2. Euler, semi-implicit Euler, and RK4 | Notes · Slides · Practice |
| 2 | 3. Frames, rigid transforms, and SO(3) | Notes · Slides · Practice |
| 2 | 4. Scalar-first quaternions and attitude integration | Notes · Slides · Practice |
| 3 | 5. Newton–Euler equations and free rigid bodies | Notes · Slides · Practice |
| 3 | 6. Lagrange equations and manipulator dynamics | Notes · Slides · Practice |
| 4 | 7. Recursive inverse dynamics and the mass matrix | Notes · Slides · Practice |
| 4 | 8. Forward dynamics, ABA, and simulator pipelines | Notes · Slides · Practice |
| 5 | 9. Holonomic constraints and stabilization | Notes · Slides · Practice |
| 5 | 10. Gauss least constraint and soft engine constraints | Notes · Slides · Practice |
| 6 | 11. Collision detection and contact geometry | Notes · Slides · Practice |
| 6 | 12. Unilateral contact, friction, and compliant models | Notes · Slides · Practice |
| 7 | 13. Choosing and comparing simulation tools | Notes · Slides · Practice |
| 7 | 14. Sensors, actuators, MJX, and reproducible projects | Notes · Slides · Practice |
Practices
- 1. Integration accuracy and energy
- 2. Frames and quaternion integration
- 3. Free rigid body and Lagrange dynamics
- 4. Mass, inverse dynamics, and Jacobian APIs
- 5. Constraint projection and drift
- 6. Collision, friction, and support forces
- 7. Backend comparison and engine project
Assessment
Practices 20%, take-home 1 25%, take-home 2 25%, project 30%. See the assignment briefs and rubrics.
This is original teaching material. The source map records how each topic connects to the linked CMU and MIT courses and to MuJoCo APIs.