Bayesian filtering recursion, motion and measurement models, first-order Jacobian linearization, Gaussian covariance propagation, and Monte Carlo Localization.
Direct vs indirect Time-of-Flight, structured infrared light projection, MEMS IMUs and Allan variance, proprioceptive joint encoders, and multimodal sensor calibration.
Kinetic energy matrices, Riemannian metric tensors, Christoffel symbols of the first kind, Coriolis-centrifugal skew-symmetry, and the Newton-Euler recursive algorithm.
Link frame conventions, standard and modified DH parameters, Brockett’s Product of Exponentials formula, spatial twist coordinates, and zero-reference configurations.
Coordinate frames, rotation matrices, gimbal lock, unit quaternions, special Euclidean Lie group SE(3), and exponential coordinates of rigid-body motion.
•3 min read
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