Manipulation

Books / Courses

• http://planning.cs.uiuc.edu/

• Planning Algorithms

• https://www.cs.cmu.edu/~motionplanning/lecture/lecture.html

• Motion Planning Puzzles (aka benchmarks)

• https://people.eecs.berkeley.edu/~pabbeel/cs287-fa11/

Research Resources

• http://gamma.cs.unc.edu/research/robotics/
• http://mae2.eng.uci.edu/~bobrow/papers.htm
• http://msl.cs.uiuc.edu/~lavalle/rrtpubs.html
• http://gamma.cs.unc.edu/PDG/

Rigid Body Motion

• Understanding terms Twist and Wrench

RRT

• Rapidly-exploring Random Trees (RRTs)

pRRT

• https://github.com/jeffi/prrts-c

Kinematics

• Kinematics: Why Robots Move Like They Do
• https://www.learnaboutrobots.com/forwardKinematics.htm
• https://www.learnaboutrobots.com/inverseKinematics.htm

Path Planner

• http://ompl.kavrakilab.org/
• http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ompl_interface/ompl_interface_tutorial.html
• Path and motion planning
• http://ompl.kavrakilab.org/planners.html

zero moment point

• https://en.wikipedia.org/wiki/Zero_moment_point
• https://www.quora.com/What-is-the-zero-moment-point

Parameterization

• https://github.com/quangounet/TOPP
• https://hungpham2511.github.io/toppra/
• https://github.com/hungpham2511/toppra
• http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/time_parameterization/time_parameterization_tutorial.html

Force Control

• Robotics Research 101: Getting Started with Force Control

Libraries

• https://github.com/ros-industrial-consortium/tesseract
• https://github.com/roboticslibrary/rl
• https://github.com/ros-planning/moveit
• https://github.com/ros-industrial-consortium/trajopt_ros
• https://github.com/ros-planning/moveit_grasps
• https://github.com/atenpas/gpd2