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Arizona State University vía Coursera
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Modern Robotics, Course 4: Robot Motion Planning and Control

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  • 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.