NPTEL : NOC:Robot Motion Planning (Mechanical Engineering)

Co-ordinators : Prof. Ashish Dutta


Lecture 1 - Introduction

Lecture 2 - Joints and Degrees of Freedom

Lecture 3 - Work Volume and Rotation Transformation

Lecture 4 - Transformations

Lecture 5 - Kinematics

Lecture 6 - Bug Algorithms

Lecture 7 - Configuration Space

Lecture 8 - C Obstacle

Lecture 9 - Topology of C Space

Lecture 10 - Road Map Methods

Lecture 11 - Cell Decomposition Methods

Lecture 12 - Sampling Based Planning

Lecture 13 - Potential Field Methods - I

Lecture 14 - Navigation Function and Potential Field in 3D

Lecture 15 - Basic Search Algorithms

Lecture 16 - Motion Planning with Kinematic Constraints

Lecture 17 - Controllability

Lecture 18 - Kinematic Constraints and Multifinger Robot

Lecture 19 - Multifinger Robot Hands

Lecture 20 - Optimization in Motion Planning