- Chapter 10: Motion Planning (Part 1 of 2)
- C-space obstacles, graphs and trees, and A* graph search.
- Chapter 10: Motion Planning (Part 2 of 2)
- Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization.
- Chapter 11: Robot Control (Part 1 of 2)
- First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities.
- Chapter 11: Robot Control (Part 2 of 2)
- Motion control of robots when the output of the controller commands joint torques, force control, and hybrid motion-force control.