Robotics Algorithms

Python implementations of basic robotics algorithms from the ROB 422: Introduction to Algorithmic Robotics course at the University of Michigan, covering optimization, motion planning, grasping, inverse kinematics, point cloud processing, and Kalman filtering.

Contents

• HW1: Linear Algebra and Transformations
• HW2: Optimization
  • Gradient Descent
  • Newton's Method
  • Stochastic Gradient Descent
• HW3: Motion Planning
  • A*
  • RRT
• HW4_a: Grasping
  • Force Closure Evaluation
• HW4_b: Inverse Kinematics
  • Iterative Jacobian Pseudo-Inverse Inverse Kinematics
• HW4_c: Point Clouds
  • PCA
  • RANSAC
  • ICP
• HW5: Kalman Filtering