Convex MPC in the Browser
An interactive WebAssembly viewer for convex model-predictive control and quadruped locomotion.
18 docs tagged with "robotics"
View all tagsModern Robotics in the Browser
A WebGL and WebAssembly playground for forward kinematics, inverse kinematics, planning, and dynamics.
Modern Robotics Series Summary - From Geometry to Control and Planning
A compact summary of the full Modern Robotics series, connecting rigid-body motion, screw theory, Jacobians, inverse kinematics, dynamics, and motion planning into one coherent picture.
Modern Robotics, Part 1 — Rigid-Body Motion and the Product of Exponentials
A mathematically grounded introduction to Modern Robotics, covering rigid-body motion, twists, screw axes, and the Product of Exponentials formulation behind robot kinematics.
Modern Robotics, Part 2A — Screw Axes, Twists, and the Exponential Map
A detailed mathematical walkthrough of screw axes, twists, and the exponential map in Modern Robotics, forming the basis for robot kinematics and Jacobian computation.
Modern Robotics, Part 2B — Frames, Lie Groups, and the Jacobian Bridge
A continuation of the screw-theory introduction, focusing on spatial vs. body frames, Lie group/Lie algebra intuition, and the connection to Jacobian construction.
Modern Robotics, Part 3 — Jacobians and End-Effector Velocity
A detailed derivation of the Jacobian from screw axes and twists, showing how end-effector velocity is computed from joint rates and why singularities arise.
Modern Robotics, Part 4 — Manipulability and Velocity Control
A deeper look at Jacobian-based velocity control, manipulability measures, and pseudoinverse methods for achieving task-space motion under constraints.
Modern Robotics, Part 5 — Inverse Kinematics and Numerical Solvers
A detailed explanation of inverse kinematics using Jacobian-based methods, analytic solutions, and iterative numerical strategies for robot pose solving.
Modern Robotics, Part 6A — Dynamics, Control, and Motion Generation
A deep-dive connecting kinematics, twist-based motion generation, and dynamics to task-space control and robot motion generation.
Modern Robotics, Part 6B — Trajectories, Constraints, and Motion Planning
A continuation of the kinematics-to-planning story, focused on trajectory generation, time scaling, constraints, and the geometry behind motion planning.
Optimal Parking Series Summary - From Sampling to Optimized Trajectory
A compact map of the Optimal Parking planner, from the kinematic bicycle model and RRT* seed to sequential QP refinement and browser execution.
Optimal Parking, Part 1 - Problem Definition and the Kinematic Bicycle Model
The parking problem, its state and input variables, and the five-state kinematic bicycle model used by the planner.
Optimal Parking, Part 2 - RRT* as an Initial Path Planner
Why RRT* is used to generate a collision-free geometric path before trajectory optimization.
Optimal Parking, Part 3 - Optimal Control and Trajectory Optimization
The optimal-control formulation behind parking trajectories, including cost functions, constraints, MPC, and the role of SQP.
Optimal Parking, Part 4 - Sequential Quadratic Programming
How the planner refines an initial route through sequential quadratic programs solved with OSQP.
Optimal Parking, Part 5 - Obstacles, Bounds, and Feasibility
How vehicle bounds, input limits, obstacle constraints, and penalties shape a feasible parking trajectory.
Optimal Parking, Part 6 - C++ Architecture and the WebAssembly Demo
How the native planner is organized and exposed through WebAssembly for interactive browser experiments.