robot-atlas

Domain

Classical Foundations

Kinematics, planning, control, estimation, and grasping: the stack under every learned policy.

0 of 5 modules published

  1. 01Kinematicsplanned

    Forward and inverse kinematics, DH parameters, and the Jacobian; the theory behind the 3D playground.

  2. 02Motion Planningplanned

    RRT and its optimal variants, trajectory optimization, and CHOMP/TrajOpt.

  3. 03Controlplanned

    PID, LQR, MPC, and whole-body QP: the classical stack under every learned policy.

  4. 04State Estimationplanned

    Kalman filters, factor graphs, and pose estimation from noisy sensors.

  5. 05Grasp Planningplanned

    Contact mechanics, grasp quality metrics, and force closure.