Robotics & Motion Ctrl
Kinematics/dynamics, motion control, sensors/perception, path planning, ROS, system integration, and advanced robotics.
210 topics · 0 with articles
Intern Engineer· 30
- Cable-Driven Robot Mechanics
- Capture Point and Divergent Component of Motion
- Continuum Robot Kinematics (Constant Curvature)
- Denavit-Hartenberg (DH) Parameter Convention
- Elastic Joint Model: Series Elastic Actuator
- Equations of Motion: M(q)q'' + C + G = tau
- Euler Angles: ZYX, ZYZ Conventions
- Forward Kinematics (FK): Joint-to-Pose Calculation
- Friction Models: Coulomb, Viscous, Stribeck
- Gravity Compensation Vector G(q)
- IK: Jacobian Pseudoinverse Method
- Inverse Kinematics (IK): Geometric Solution
- Jacobian Matrix: Definition and Computation
- Jacobian Singularity Analysis and Avoidance
- Joint Limits and Task-Space Constraints
- Lagrangian Dynamics: Kinetic and Potential Energy
- Legged Robot Dynamics: Centroidal Model
- Lie Groups and Lie Algebra for Robotics
- Manipulability Ellipsoid and Index
- Modified DH vs. Classic DH Comparison
- Newton-Euler Dynamics: Recursive Algorithm
- Parallel Mechanism Kinematics (Delta, Stewart)
- Product of Exponentials (PoE) Formula
- Quaternion Representation of Rotation (SO3)
- SE(3) Rigid Body Transformation
- Screw Theory: Twist and Wrench Definition
- Variable Stiffness Actuator (VSA) Mechanics
- Whole-Body Dynamics and Floating-Base Model
- Workspace Analysis: Reachable and Dextrous
- Zero Moment Point (ZMP) for Bipedal Walking
Junior Engineer· 30
- Auto-Tuning Servo Drive with Frequency Sweep
- BLDC Motor: Trapezoidal and Sinusoidal Commutation
- Battery-Powered Mobile Robot Motor Drive
- CAN Bus in Servo Drive (CANopen DS402)
- Compliant Actuator for Human Collaboration
- DC Motor Control: Armature Voltage, Back-EMF
- Dual-Axis Gantry Synchronization Control
- Encoder: Incremental (ABZ), Absolute (SSI, BiSS)
- EtherCAT Master Implementation (SOEM)
- EtherCAT Real-Time Motion Bus: Protocol
- Force/Torque Sensor Calibration and Bias Removal
- Gearbox Selection: Harmonic Drive, Cycloidal
- High-Torque Direct-Drive Motor Design
- Hydraulic Actuator: Servo Valve, Pressure Dynamics
- Joint Torque Sensor Design and Integration
- Linear Motor and Voice Coil Actuator Driver
- Motor Sizing: Torque-Speed Curve for Task
- Motor Thermal Management in High-Duty Cycle
- Multi-Axis Coordinated Motion: Interpolation
- PMSM Field-Oriented Control (FOC) for Robots
- Piezoelectric Actuator for Precision Positioning
- Pneumatic Actuator Control: Valve, Cylinder
- Power Electronics for Servo Drive (SiC)
- Regenerative Braking in Servo Systems
- Resolver and Resolver-to-Digital Converter
- Series Elastic Actuator (SEA) Torque Control
- Servo Drive Tuning: P, I, D, Feed-Forward
- Silicon-Based Artificial Muscle Actuator Concept
- Stepper Motor Microstepping and Resonance
- Transmission Ratio and Reflected Inertia
Middle Engineer· 60
- 2D LiDAR (SICK, Hokuyo): Point Cloud Basics
- 3D LiDAR (Velodyne, Ouster): 360 degree Scan
- 4D Imaging Radar for Robot Navigation
- 6D Pose Estimation (FoundPose, GDR-Net)
- A* Graph Search on Grid Map
- Behavior Tree for Task Sequencing
- Bi-directional RRT (RRT-Connect)
- CHOMP: Covariant Hamiltonian Optimization
- Collision Avoidance: ORCA Algorithm
- Configuration Space (C-Space) and Obstacles
- Constrained Motion Planning (MoveIt2)
- Costmap 2D: Inflation, Static, Obstacle Layers
- Coverage Path Planning (Boustrophedon)
- D* Lite for Dynamic Re-Planning
- Depth Completion: Sparse-to-Dense LiDAR
- Dynamic Obstacle Avoidance: DWA, TEB
- Elastic Band (E-Band) Trajectory Optimization
- Event Camera (DVS): High-Speed, Low-Latency
- FSM and Hierarchical FSM for Tasks
- Force/Torque (F/T) Sensor: ATI, Robotiq
- GPS and GNSS Integration for Outdoor Robots
- Global Path + Local Planner Integration (Nav2)
- IMU Pre-Integration for State Estimation
- IMU: Accelerometer and Gyroscope Fusion
- Jump Point Search (JPS) for Grid Maps
- LiDAR Point Cloud Processing: Filtering, Segmentation
- LiDAR-Camera Extrinsic Calibration
- LiDAR-Only SLAM: Cartographer, LeGO-LOAM
- MPPI (Model Predictive Path Integral) Control
- Magnetometer Calibration: Hard/Soft Iron
- Multi-Goal Planning with TSP Heuristics
- Neural Motion Planning (Motion Transformer)
- Neuromorphic Vision: Event Camera SLAM
- Object Detection: YOLO for Grasping
- Optical Flow Sensor (PX4FLOW, ADNS)
- Potential Field Method for Real-Time Planning
- Probabilistic Roadmap Method (PRM)
- RGB-D Camera (RealSense D435, ZED 2)
- RRT*: Asymptotically Optimal Planning
- RRT: Rapidly-Exploring Random Tree
- RTK-GPS for Precision Agricultural Robot
- Receding Horizon MPC for Mobile Robots
- Rotary Encoder: Resolution, Index Pulse
- SLAM: Simultaneous Localization and Mapping
- STOMP: Stochastic Trajectory Optimization
- Semantic Segmentation for Scene Understanding
- Stereo Camera Calibration: Zhang Method
- Stereo Disparity and Depth Estimation
- TOPP-RA: Time-Optimal Path Parameterization
- Tactile Glove Sensor for Dexterous Manipulation
- Tactile Sensor Array: Capacitive, Resistive
- Task and Motion Planning (TAMP)
- Theta* for Any-Angle Path Planning
- Time Elastic Band (TEB) Local Planner
- Torque Sensing via Motor Current (Indirect)
- Trajectory Stitching and Execution Monitoring
- Vision: Calibration with OpenCV (Mono, Stereo)
- Visual Odometry (VO): Essential Matrix
- Visual-Inertial SLAM: VINS-Mono, KIMERA
- iLQR / DDP: Differential Dynamic Programming
Senior Engineer· 30
- Behavior Trees with BehaviorTree.CPP
- Docker Containerization for ROS2
- Gazebo Classic vs. Ignition Harmonic Simulation
- Isaac ROS Accelerated Perception Nodes
- Isaac Sim for Robot Learning Simulation
- MoveIt2 Planning Pipelines (OMPL, Pilz)
- MoveIt2 Servo for Real-Time Cartesian Control
- MoveIt2 Task Constructor for Complex Tasks
- MoveIt2: Motion Planning Framework
- Nav2 BT XML Behavior Tree Design
- Nav2 Costmap, Planner, Controller Server
- Open-Source Full Stack: ROS2 + Nav2 + MoveIt2
- PyBullet for Dynamics Simulation
- ROS2 Bag Recording and Playback
- ROS2 Component Nodes for Intra-Process Comm
- ROS2 Control: Controller Manager, HW Interface
- ROS2 Core: Node, Topic, Service, Action, Parameter
- ROS2 Custom Interface: Message, Service, Action
- ROS2 DDS Middleware: Fast DDS, Cyclone DDS
- ROS2 Launch Files: XML and Python Format
- ROS2 Lifecycle Managed Nodes
- ROS2 Navigation Stack: Nav2 Lifecycle
- ROS2 QoS: Reliability, Durability, History
- ROS2 TF2: Coordinate Frames and Transforms
- ROS2 URDF and XACRO Robot Description
- ROS2 micro-ROS for Embedded Devices
- SLAM Packages: Cartographer, RTAB-Map
- SROS2: Security-Enabled ROS2
- micro-ROS on FreeRTOS and Zephyr
- ros2_control: Joint Trajectory Controller
Staff Engineer· 30
- AMR Safety (ANSI B56.5)
- ANSI/RIA R15.06 North American Standard
- Area Scanner Integration (SICK S300, PILZ)
- CE Machinery Directive 2006/42/EC Requirements
- CE Technical File Assembly for Robotic System
- Cobot Force Limiting (ISO/TS 15066)
- EN ISO 12100: Risk Assessment for Machinery
- EN ISO 13849-1: Safety Categories PLa-PLe
- Emergency Stop Circuit: STO, SS1, SS2
- FMEA for Robot Safety-Critical Functions
- Functional Safety Validation Test Campaign
- IEC 62061: Functional Safety for Machinery
- ISO 10218-2 (Robot Integration in Workplace)
- ISO/TS 15066: Human-Robot Collaboration Limits
- Light Curtain Type 4 Integration and Muting
- OSHA Regulation for Industrial Robot Safety
- Power and Force Limiting (PFL) Monitoring
- Risk Assessment: Hazard Identification, Reduction
- Robot Product Liability: EU Machinery Directive
- Robot Safety Standards ISO 10218-1 (Robot Design)
- Safe Human-Robot Proximity Sensor Integration
- Safe Limited Position (SLP) Monitoring
- Safety Communication (PROFIsafe, CIP Safety)
- Safety Function Spec for E-Stop, Safe Stop
- Safety PLC (Pilz PNOZsigma, Siemens F-CPU)
- Safety-Rated I/O Module Selection
- Safety-Rated Monitoring Speed (SMS) and SLS
- Security for Robot Systems (IEC 62443)
- Speed and Separation Monitoring (SSM)
- Verification and Validation of Safety Functions
Distinguished Engineer· 30
- Aerial Manipulation with UAV and Arm
- Autonomous Underwater Vehicle (AUV) AI
- Bipedal Robot Running (ATLAS, G1, Cassie)
- Deep RL: TD3 for Continuous Control
- Dexterous Manipulation Learning (Contact-Rich)
- Diffusion Policy for Robot Imitation Learning
- Domain Randomization for Sim-to-Real Transfer
- Embodied AI: Navigation and Manipulation
- Foundation Models for Robotics (RT-2, pi0)
- GPT-4 and LLMs for Robot Task Planning
- Gaussian Splatting for Robot Perception
- Generalist Robot Policy: Cross-Embodiment
- Hierarchical RL for Long-Horizon Tasks
- In-Hand Manipulation with Reinforcement Learning
- Learning from Demonstration (LfD, DAgger, GAIL)
- Meta-Learning for Fast Robot Adaptation (MAML)
- Model-Based RL for Robot Dynamics (MBPO)
- Multi-Robot RL: Cooperative and Competitive
- Neural Radiance Fields (NeRF) for Robots
- Offline RL and Dataset-Driven Robot Learning
- Open-Vocabulary Object Detection for Robots
- Proprioceptive Locomotion for Legged Robots
- Quadruped Locomotion (Spot, ANYmal, Go1)
- RL for Robot Manipulation (PPO, SAC)
- Robot Learning in Simulation (Sim-to-Real)
- Self-Supervised Robot Skill Learning
- Soft Robotics: Control of Deformable Bodies
- Swarm Robotics: Distributed Control
- Vision-Language-Action Model (VLA)
- Whole-Body Control for Humanoid Locomotion