Part 4 · Dynamics and control
Why bodies move the way they do, and how controllers turn a target into torques safely.
Learn first
Section titled “Learn first”This part assumes the following. If any of it is new, learn it on AI Engineering from Scratch first:
Lessons
Section titled “Lessons”| # | Lesson | Run type | Time | Status |
|---|---|---|---|---|
| 11 | Rigid-body dynamics | CPU | ~60 min | ✅ done |
| 12 | Joint control: PD, PID, gravity feedforward and position servos | CPU | ~60 min | ✅ done |
| 13 | Trajectory generation | CPU | ~45 min | ✅ done |
| 14 | Operational-space and impedance control | CPU | ~60 min | ✅ done |
| 15 | Safety: limits, torque caps, e-stop and watchdogs | CPU | ~40 min | ✅ done |
| 16 | Grasping and scripted pick-and-place | CPU | ~60 min | ✅ done |