Introduction to Robotics (MIT 2.12)
by Harry Asada, John Leonard · MIT OpenCourseWare
Covers planar and spatial kinematics, motion planning, manipulator and mobile-robot mechanism design, multi-body dynamics, actuators, sensors and control design. Lecture notes, problem sets, programming assignments, exams and example projects prepare learners to model and control working robotic systems.
More resources on Robotics Fundamentals
Articulated Robotics
Josh Newans' written and video tutorials for building a ROS 2 mobile robot end to end: URDF modelling, Gazebo simulation, ros2_control, LIDAR and camera integration, and navigation. Learners finish able to run a complete robot software stack on a Raspberry Pi.
Robotics: Modelling, Planning and Control
Graduate textbook covering rigid-body kinematics, differential kinematics, dynamics, trajectory planning, motion control and force control for robot manipulators, plus mobile robots and visual servoing. Readers finish able to derive and control manipulator models mathematically.
Robot Academy
Free library of short robotics lessons and masterclasses drawn from Peter Corke's university courses, covering coordinate frames, kinematics, dynamics, and vision. Each lesson pairs a video with notes, so topics can be studied individually.
Peter Corke Robotics Toolbox
Open-source MATLAB and Python toolbox implementing kinematics, dynamics, trajectory generation, and manipulator models, with documentation tied to Corke's Robotics, Vision and Control textbook. Lets learners test textbook algorithms on simulated arms.
Modern Robotics
Companion site to Lynch and Park's textbook, offering the full PDF, lecture videos, practice problems, and Python code. Builds a screw-theory treatment of configuration space, kinematics, dynamics, and motion planning.
Underactuated Robotics (MIT 6.832)
Nonlinear dynamics and control of underactuated systems such as walkers, swimmers and flyers: motion planning, partial feedback linearization, energy shaping, optimal control and reinforcement learning. Includes 23 lecture videos, problem sets with solutions and projects, preparing learners to design controllers that exploit natural dynamics.