Robotics Study Plan Checklist

🌷Robotics stuff I want to study and build. I might be able to do only 10% of this in my lifetime and that's okay.

I've done something like this before in my old robotics blog Where I list all the cool stuff that seems to be exciting to learn and build and explore. I won't necessarily be able to accomplish these things, and that's okay. This is again another brain dump I guess.

  • Mathematical and Theoretical Foundations
  • Underactuated Robotics
  • Hexapods Sprawling Quadrupeds
  • Robot Arms
  • Quadcopters
  • Mechanisms with Lego and 3d Printing
  • Wishlist

Mathematical and Theoretical Foundations

  1. Create a simple visualizer of homogenous transforms, and 3d rotations converter with quaternions etc

  2. The Essence of linear Algebra (finish all 3blue1brown videos)

    a. Linear Algebra Done Right by Axler

    b. Maybe also build a couple of visualizers that illustrate linear algebra concepts

  3. Tyler Veness: Graduate-level control theory for high schoolers

  4. It would be interesting to revisit Newtonian Mechanics and Dynamics course back from freshman college

  5. It's also interesting to study dynamics and control of a 3d pendulums and variations

    a. Simulation of 3d Simple pendulums and double pendulums

    b. Simulation of 3 Inverted pendulums etc

    c. Read papers about Nonlinear dynamics of a 3d pendulums, Dynamics and Control of a 3D Pendulum

  6. Checkout some of the resources for the prerequisites of the under actuated course particularly

    a. Ordinary Differential Equations in Khan's Academy

    b. Nonlinear Dynamics and Chaos by Strogatz

  7. Try out underactuated robotics course Russ Tedrake (atleast half)

Robot Arm

  1. Write a robot arm simulator that can be used to control my real robot arm. You should be able to control the robots end effector with your mouse.

  2. Use my robot arm simulator to control this my robot arm

Hexapod and Sprawling Quadrupeds

  1. Build a hexapod robot from AliExpress with Arduino and a PS2 controller clone
  2. Convert that hexapod to use Raspberry Pi instead
  3. Use my app to control that hexapod with LocalXpose from anywhere in the world with WIFI
  4. Build 3d printed / lazercut robot with microservos - Petar Crnjak Code and STL files for small 18 servo hexapod
  5. Write my own code to make a sprawling quadruped move the way I want

Quadruped Dog

  1. Study the papers, code, and articles by Maurice Rahme and Adham Elarabawy
  2. Build a simple simulator of the quadruped like Adham Elarabawy did

Quadcopters

  1. Build a quadcopter simulator. Given a list of specified way points, generate a simulation of the quadcopter going from point to point using the minimum snap trajectory algorithm. Not only should the state be displayed but also the control inputs (for each motor) among others

  2. Build an actual quadcopter from the ground up that I will program from scratch

Mechanisms, Lego and 3d printing

I've always found mechanisms interesting. Here's some of my favorite lego builders

  1. Akiyuki Kawaguchi's great ball contraptions

  2. ISOGAWA Yoshihito

  3. Paul Sariel and his favorite lego builders

    a. Jennifer Clark

    b. Nico 71

  4. JK Brickworks

Things I want to do related to mechanisms

  • I hope I can also make time to make awesome stuff like them.
  • I've never really did a lot of CADWork like using Fusion360 or OnShape, and it's something I've always wanted to try.
  • I want to make adapters that I can 3d print so that I can use popular servo motors and other actuators (motors and steppers) work with lego.
  • There are also a lot of really cool open source mechanisms in thingiverse that you can 3d print. It would be really cool to 3d print them!

Things I want to read related to mechanisms

Wishlist

I've already done a wishlist before Here's a short list

  1. A creality 3d printer
  2. ALL Unique Wooden Mechanical Models UGears Models
  3. Parts to build my own drone