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Robotics Tutorial

License: CC BY 4.0

面向机器人与人工智能交叉方向的系统化教学文档，覆盖从数学基础到具身智能的完整知识体系。

Author: Pengfei Guo
Affiliation: 达妙科技 (DAMIAO Technology)
License: CC BY 4.0 — 自由使用与商用，需注明出处
AI Collaboration: 部分内容由 Claude 与 Codex 辅助编写与审核

Project Structure

Robotics_Tutorial/
├── 01_数学/                 # 数学基础（微分几何、李群、优化、控制、概率、刚体动力学、RL数学）
├── 02_C++基础与进阶/        # C++ 工程（语言核心、并发、软件工程、通用库、ROS2、规控工程基础）
├── 03_SLAM/                 # 同时定位与建图
├── 04_移动机器人规控/        # 移动机器人规划与控制（无人机、横切专题）
├── 05_运动控制/              # 运动控制（公共基础/足式/机械臂/复合/仿真）
│   ├── 00_公共基础/          #   运动控制公共能力层
│   ├── 10_足式/              #   足式机器人（24章完整教学序列）
│   ├── 20_机械臂/            #   机械臂
│   ├── 30_复合/              #   复合方向（移动操作）
│   └── 40_仿真/              #   仿真环境与工具
└── 06_具身智能/              # 具身智能（RL运控、VLA、世界模型）

Content Overview

Direction Files Lines Status
01 数学基础 90 124,596 6/10 sub-directions complete (QA'd)
02 C++基础与进阶 58 115,782 4/6 sub-directions complete
03 SLAM 15 16,191 In Progress
04 移动机器人规控 76 15,613 Skeleton
05 运动控制 134 190,726 Complete
06 具身智能 33 70,892 In Progress
Total 406 533,800

05 运动控制 Breakdown

Sub-direction Files Lines Status
公共基础 (Common Foundation) 1 406 Complete
足式 (Legged) 27 44,985 Complete
机械臂 (Manipulator) 47 67,085 Complete
复合 (Loco-manipulation) 48 56,073 Complete
仿真 (Simulation) 10 20,005 Complete
总大纲 (Overview) 1 2,172 Complete

Legged Robot Chapters (足式)

Complete 24-chapter teaching sequence covering:

Part Chapters Topic
Foundation Ch47-50 Pinocchio, CppAD, spatial algebra, QP/NLP
Models & Contact Ch51-52 Simplified models, contact mechanics
Control Ch53-55 WBC/TSID, DDP/Crocoddyl, OCS2 MPC
Planning Ch56-60 Gait, state estimation, foothold planning
Engineering Ch61-62 Real-time C++, hardware stack
RL & Perception Ch63-67 RL training/deploy, hybrid RL+MPC, perception
Capstone Ch68-70 Code reading, project, research directions

Quality Standards

All teaching chapters follow a v5.0 internal spec with four document types (theory / algorithm-engineering / paper-reading / engineering-practice):

  • Minimum 2,000 lines per chapter (1,500 for engineering-practice)
  • 15 rules across 3 layers (content / expression / cognition)
  • 5-gate quality system (G1 structure → G2 accuracy → G3 consistency → G4 completeness → G5 polish)
  • Cognitive tools: ≥3 analogies, ≥3 counterfactuals, ≥2 essence insights per chapter
  • Full derivations with step-by-step reasoning, no "obvious" or "trivially"
  • Fault diagnosis tables, cross-chapter bridges, cumulative projects

Usage

git clone https://github.com/Michael-Jetson/Robotics_Tutorial.git

Documents are standalone Markdown files. Recommended reading order follows chapter numbering within each direction.

Citation

If you use this material in your work, please cite:

Robotics Tutorial by Pengfei Guo, DAMIAO Technology
https://github.com/Michael-Jetson/Robotics_Tutorial
Licensed under CC BY 4.0

License

This work is licensed under a Creative Commons Attribution 4.0 International License.

You are free to:

  • Share — copy and redistribute in any medium or format
  • Adapt — remix, transform, and build upon for any purpose, including commercial

Under the following terms:

  • Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made.

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