Robot Kinematics Demystified
Robot Kinematics Demystified
(PROGRAMMING OTTO DIY ROBOT USING MATH, PHYSICS AND THE C++ LANGUAGE)
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Robot Kinematics Demystified
Laurnetta Sanks — former Lockheed Martin software engineer
In Robot Kinematics Demystified, Laurnetta Sanks—former Lockheed Martin software engineer and self-taught robotics educator—reimagines how beginners approach robotics. Departing from the textbook-driven traditions of university programs, she employs the Otto DIY biped robot as a platform for hands-on learning. With clarity and precision, Sanks introduces the Denavit–Hartenberg convention, the standardized framework for modeling kinematic chains through coordinate frame assignments.
These D–H parameters form the mathematical foundation for deriving motion equations, specifically the joint angles required to achieve coordinated, controlled behaviors such as walking.
By bridging theory and practice, the text equips readers with the conceptual tools and methodological rigor necessary to navigate the complexities of inverse kinematics.
Mastery of these principles not only demystifies robotic motion but also provides a pathway into the development of software systems grounded in mathematical insight. For readers seeking to advance from theory to implementation, programming the Otto DIY biped robot is offered through iNugGits’ monthly Discord community membership program
Watch Official Book Trailer
Watch Official Book Trailer
Get started with the exciting world of robotics using Arduino! In this beginner-friendly video, we’ll walk you through the basics of robotics, how Arduino works, and how you can build your first robot project. No prior experience needed—just curiosity and creativity!
Robot Kinematics Demystified Final Project
Robot Kinematics Demystified Final Project
Meet Otto: The Open-Source Biped
Meet Otto: The Open-Source Biped
The robot at the heart of this program is Otto, an open-source bipedal robot originally designed by Camilo Parra Palacio. Otto may look small, but he packs a big punch in terms of learning potential. His expressive movement, programmability, and community-driven design make him an ideal teaching platform for advanced robotics.
Students don’t just watch Otto move—they write the code that tells him how to move, learning valuable engineering and math skills in the process.
Course Prerequisites
Course Prerequisites
Must have some exposure to The Denavit-Hartenberg convention that defines four parameters for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator
Trigonometry
Vectors and Matrix Multiplication
Rotational motion and Motion graphs
Who’s this program for?
Who’s this program for?
High schoolers interested in STEM career preparation
Robotics Enthusiasts
Professionals looking to pivot careers to robotics
Undergraduate Engineering/Math/Physics/Robotics student
What will you learn?
What will you learn?
Arduino open-source electronics hardware/software platform
Introduction to basic C++ programming concepts
Basics of engineering design principles
Otto bipedal robotics system
College-level robotics concepts
Closed-loop motor control system using Hobby/RC Servo motors
A complete C++ walk-cycle program using Inverse Kinematics
3-Approaches will be applied to find the Trajectory Path: Techniques used in Robotic courses, A Mathematical perspective, and applying the laws of Physics
Testimonials
Testimonials
References
References
All concepts, methods, and examples in this book are supported by academic research, industry case studies, and expert insights from trusted robotics and engineering sources.
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