Ask HN: Courses/textbook recommendations for studying robotics? Hi HN, I am studying robotics and exoskeletons as a hobby. Can HN please recommend high quality resources for self study? |
Ask HN: Courses/textbook recommendations for studying robotics? Hi HN, I am studying robotics and exoskeletons as a hobby. Can HN please recommend high quality resources for self study? |
The Robotics resources and texts by Peter Corke are good: https://petercorke.com/ -also has this good related course: https://robotacademy.net.au/
"Controls Engineering in the FIRST Robotics Competition" by Tyler Veness is free and a good short reference: https://controls-in-frc.link/
Also add the MIT Robotics Series books: https://mitpress.mit.edu/series/intelligent-robotics-and-aut...
Algorithms for Decision Making is free and awesome: https://algorithmsbook.com/
Also looks really good (MIT Press hardcopy): https://introduction-to-autonomous-robots.github.io/
Might not be a bad idea to start with a Python-based, practical RL book and move from practical demonstrations towards theory.
Although not an RL book, I really like Data-Driven Science and Engineering by Brunton and Kutz:
- https://www.amazon.com/Data-Driven-Science-Engineering-Learn...
Steve Brunton also has an awesome youtube channel on dynamic systems, control, and machine learning.
Robotic books with some RL concepts (don't have either of these tbh):
- https://introduction-to-autonomous-robots.github.io/
- https://mitpress.mit.edu/9780262046169/learning-for-adaptive...
General texts/resources on adaptive control, optimal control, and RL:
- https://arxiv.org/abs/1912.03513
- http://www.cs.cmu.edu/~cga/dynopt/
- http://www.mit.edu/~dimitrib/RLbook.html
Practical Methods for Optimal Control Using Nonlinear Programming, Third Edition by John Betts:
- https://my.siam.org/Store/Product/viewproduct/?ProductId=316...
Adaptive Control Tutorial by Ioannou and Fidan
- https://mitpress.mit.edu/9780262039246/reinforcement-learnin...
Control Systems and Reinforcement Learning by Sean Meyn looks to be on topic but I haven't read through it.
Since you've mentioned exoskeletons, knowledge of kinematics and dynamics is imperative.
Rotation Matrices, Forward/Inverse Kinematics, Denavit - Hartenberg Parameters, Lagrangian Mechanics are a few fundamental concepts one should be familiar with. Their applications mostly pertain to robotic manipulators (arms), which are what members of exoskeleton's are modeled after.
They're covered extensively in the classic in the field textbook
Robotics Modelling, Planning and Control by Siciliano, Sciavicco, Villani, Oriolo
They also require some prior knowledge of linear algebra to safely navigate through, so make sure you've achieved at least some math literacy before diving into them.
Speaking of navigation, if you're interested in motion planning i.e. how to optimally (safely and efficiently) go from point A to point B, what you read is
Planning Algorithms by Steven M. Lavalle
for various ways the math people have came up with to solve this. Many cool applications in fields outside of robotics like in Computer Graphics/Animation too.
And btw, if there's one paper you'll absolutely have to read if you find yourself more interested in motion planning is
Sampling-based Algorithms for Optimal Motion Planning by Sertac Karaman and Emilio Frazzoli
in which the authors have revised two very popular path planning algorithms by making them significantly more optimal than their initial implementations were, and are part of many decision making systems that are involved in any type of mechanical movements.
Some other comments talked about more advanced disciplines in the field like State Estimation or Reinforcement Learning but I believe the aforementioned (kimenatics/dynamics/motion planning) are the bare minimum before diving into even more advanced math-heavy concepts.
https://www.coursera.org/specializations/modernrobotics#cour...
Mechatronics, Computer Vision, Control Theory, State Estimation, Path Planning, etc?
Similar questions get posted pretty often in engineering subreddits and it's difficult to answer as robotics is so multi-disciplinary.
Very few people in this world are skilled enough in embedded programming, PCB design (motor control and sensors), materials and structures, dynamics and kinematics, controls and machine design (CAD, selecting manufacturing processes, selecting various COTS mechanical parts like actuators and bearings) to be a one-man-robot making orchestra.
Advice to OP: pick a specialization to start with, and focus on learning that while using pre-made parts for the rest. For example, buy a ready-made robotic arm and write path planning and controls software to operate it. Or build your own CNC router/pick-and-place/3D printer/pen plotter but use off the shelf/open-source electronics and firmware.
Once that's done, pick another specialty and move on to that if it interests you.
Can you recommend the names of any off-the-shelf robotic arms or tools that can be modified or hacked?
Any good standard starting points for controller software?
Nise - Control Systems Engineering: https://www.amazon.com/Control-Systems-Engineering-Norman-Ni...
Friedland - Control System Design: https://www.amazon.com/Control-System-Design-Introduction-St...
It was only around £70 for the servos + metal framework. I drive it with a Pi and a PCA9685 based I2C board.
I was driving with a 5V supply, but it looks like the servos can run at 6V, which I need to try, as the bottom servo in the arm doesn't seem to have quite enough power.
I'd like to sometime try to 'teach' it to draw with a pen (however badly), 'Inverse kinematics' feels rather scary though, so wonder if anyone might have any very basic tutorials on this.
Tangentially related, I just bought 'The Ultimate Guide To DIY Animatronics' yesterday, which I'm looking forward to reading when it arrives.
And have been watching a few videos on animatronics such as:
* https://www.youtube.com/watch?v=y0R8-F4TmPI - 'Show and Tell: Animatronic Raven Kit!'
* https://www.youtube.com/watch?v=uNIfx0Xddzc - 'How Realistic Animatronics Are Made For Movies & TV | Movies Insider'
Curious if anyone has any recommendations for videos/books in this area?
You might look into graphics programming and 3d modeling. For example Blender supports Inverse Kinematics for creating character animation.
For motion, "Principles of Robot Motion: Theory, Algorithms, and Implementations" by Choset, et al.
It's telling that few new robotics textbooks have shipped in the past 10-15 years.
Despite the title, it isn't a particularly good controls book. But it's the standard for kinematics.
https://www.ri.cmu.edu/education/academic-programs/undergrad...
You can google the course numbers and find out which of the courses have an available webpage and study material from there.
Somebody who has already read it might want to chime in.
His web site's name, TopTechBoy is a joke - it's in pigdin because he simplifies things.
https://www.youtube.com/watch?v=fJWR7dBuc18&list=PLGs0VKk2Di...
Artificial Intelligence: A Modern Approach by Russell/Norvig is another good book for planning and AI.
All joking aside, I've always longed for a complete set of those Gingery books in print format. I have ebooks of most of them, but I'd love to have a bound set. And even more, I'd love to have time (and space) to actually take a stab at building the Gingery metal shop. Seems like it would be real blast (no pun intended).
(Disclaimer: I haven't bought any of them, so can't say anything about the quality.)
UFactory Lite $3900 https://www.ufactory.cc/product-page/ufactory-lite-6-kit
Dorna 2 $4200 https://dorna.ai/product/dorna-2/
ReBeL cobot €5000 https://www.igus.si/product/20962?artNr=REBEL-6DOF-01
Interbotix https://www.trossenrobotics.com/robotic-arms/ros-research-ar...
DOBOT $2700 https://www.trossenrobotics.com/dobot-mg400-industrial-deskt...
Wlkata Mirobot $2000 https://www.wlkata.com/products/professional-kit-of-wlkata-m...
Buy an Arduino Mega or something. That way you'll have way more pins that you'll need, and shouldn't hit up against the memory limits. Arduinos have a huge community, and the free IDE has all libraries and everything you need. I bought one and an MP3 shield from AdaFruit last year and successfully made a GNK droid. complete with flashing lights and multiple modes of tranquil gonks.