Robotics/
├── 00 — MOCs/
│ ├── Robotics MOC.md # Master map of content
│ ├── Kinematics MOC.md # Weeks 1–4
│ ├── Vision MOC.md # Weeks 5–6
│ ├── Velocities & Jacobians MOC.md # Weeks 7–8
│ ├── Dynamics MOC.md # Weeks 10–11
│ └── Control & Motion Planning MOC.md # Weeks 11–13
│
├── 01 — Mathematical Foundations/
│ ├── Linear Algebra Review.md
│ ├── Lie Groups and Lie Algebras.md
│ ├── SO(3) — The Rotation Group.md
│ ├── SE(3) — Rigid Body Transformations.md
│ ├── Exponential Map.md
│ ├── Rodrigues’ Formula.md
│ ├── Quaternions.md
│ ├── Homogeneous Coordinates.md
│ └── Lagrangian Mechanics Primer.md
│
├── 02 — Rigid Body Motion/
│ ├── Rotation Representations.md
│ │ # SO(3) — The Rotation Group
│ │ # Euler Angles · Quaternions · 1.4. Rodrigues’ Formula
│ ├── Euler Angles.md
│ ├── Rigid Transformations.md
│ │ # SE(3) — Rigid Body Transformations · Homogeneous Coordinates
│ ├── Twists and Screws.md
│ │ # se(3) Lie Algebra · Exponential Map · Chasles’ Theorem
│ ├── se(3) Lie Algebra.md
│ ├── Chasles’ Theorem.md
│ └── Screw Theory.md
│
├── 03 — Kinematics/
│ ├── Forward Kinematics.md
│ │ # Product of Exponentials · Joint Space
│ ├── Product of Exponentials.md
│ ├── Joint Space.md
│ ├── Inverse Kinematics.md
│ │ # Paden-Kahan Subproblems · Manipulator Workspace
│ ├── Paden-Kahan Subproblems.md
│ │ # PK 1, 2, 3 — worked examples
│ ├── Manipulator Workspace.md
│ └── Kinematics — Worked Examples.md
│
├── 04 — Vision/
│ ├── Image Formation.md
│ │ # Pinhole model, intrinsics, extrinsics
│ ├── Image Features and Primitives.md
│ ├── Correspondence Problem.md
│ ├── Two-View Geometry.md
│ │ # Epipolar geometry, essential/fundamental matrix
│ └── Vision Pipeline (Applied).md
│ # How vision feeds into the manipulation pipeline
│
├── 05 — Velocities & Jacobians/
│ ├── Spatial Velocity.md
│ ├── Body Velocity.md
│ ├── Angular Velocity.md
│ ├── Generalized Velocities.md
│ ├── Spatial Jacobian.md
│ │ # Forward Kinematics → differentiation
│ ├── Body Jacobian.md
│ ├── Singularities.md
│ │ # Manipulability · rank deficiency
│ ├── Manipulability.md
│ ├── Redundant Manipulators.md
│ └── Motion Planning with Jacobians.md
│
├── 06 — Dynamics/
│ ├── Lagrangian Dynamics.md
│ │ # L = T - V, generalized coordinates
│ ├── Planar Dynamics.md
│ ├── Equations of Motion.md
│ ├── Energy Methods.md
│ └── Dynamics — Worked Examples.md
│
├── 07 — Control & Motion Planning/
│ ├── Control Overview.md
│ ├── PID Control.md
│ ├── Computed Torque Control.md
│ ├── Motion Planning Overview.md
│ └── Trajectory Generation.md
│
├── 08 — Labs & Projects/
│ ├── Lab 1-2 — ROS2 Introduction.md
│ ├── Lab Module A — Labs 3-4.md
│ ├── Lab Module B — Labs 5-6.md
│ ├── Lab Module C — Labs 7-8.md
│ └── Final Project/
│ ├── Proposal.md
│ ├── Check-in I.md
│ └── Check-in II.md
│
├── 09 — Bridges/
│ ├── Robotics ↔ Reinforcement Learning.md
│ │ # MDP formulation of manipulation tasks
│ │ # Policy learning vs. classical control
│ │ # Sim-to-real transfer ↔ Motion Planning Overview
│ │ # Lagrangian Dynamics as environment physics
│ ├── Robotics ↔ Quantitative Finance.md
│ │ # Jacobians ↔ Greeks (sensitivity analysis)
│ │ # State estimation ↔ filtering (Kalman ↔ HMM)
│ │ # Optimal control ↔ portfolio optimization
│ │ # Singularities ↔ regime transitions
│ └── Robotics ↔ Decision Theory.md
│ # Utility-theoretic control objectives
│ # Game-theoretic multi-agent manipulation
│ # Manipulability as option value
│
└── 10 — Reference/
├── MLS Textbook Notes.md
├── Notation Glossary.md
├── Key Proofs.md
└── Exam Review/
├── Midterm 1 Review.md
└── Midterm 2 Review.md