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awesome-robotics-teaching

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Collection of curriculum and useful examples for robotics and autonomous systems education using MATLAB® and Simulink® for different stages of learning.

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# Awesome Robotics Teaching with MATLAB and Simulink
[![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome)
[![Maintenance](https://img.shields.io/badge/Maintained%3F-yes-green.svg)](https://GitHub.com/petercorke/RVC3-MATLAB/graphs/commit-activity)

Collection of curriculum and useful examples for robotics and autonomous systems education using MATLAB&reg; and Simulink&reg; for different stages of learning.

Content classification:
* **(Beginner)** Suggested for anyone new to MATLAB/Simulink and new to robotics (STEM Education)
* **(Intermediate)** Suggested for those with foundational engineering knowledge and basic MATLAB skills ([MATLAB Onramp Recommended](https://matlabacademy.mathworks.com/details/matlab-onramp/gettingstarted))
* **(Advanced)** Recommended for anyone with working knowledge in robotics theory, programming experience, and basic MATLAB skills

Looking for content specific to robotics applications? Check out the [Awesome-MATLAB-Robotics GitHub repository](https://github.com/mathworks-robotics/awesome-matlab-robotics) instead.

**NOTE:** *For content additions open a GitHub Issue on the repository*

## Overview Resources
| (Beginner) | (Intermediate) | (Advanced) |
| :---: | :---: | :---: |
| Learning Robotics Basics with MATLAB (Video) | Robotics Education with MATLAB (Video)| Teaching Robotics with MATLAB (White-Paper) |
| [![Watch the video](https://img.youtube.com/vi/rn5nEkMbsnI/hqdefault.jpg)](https://youtu.be/rn5nEkMbsnI) | [![Watch the video](https://img.youtube.com/vi/7W54MZvX75g/hqdefault.jpg)](https://youtu.be/7W54MZvX75g) | [![Watch the video](https://raw.githubusercontent.com/mathworks-robotics/awesome-robotics-teaching/main/Icons/whitepaper.png)](https://www.mathworks.com/campaigns/offers/next/teaching-robotics.html)  |

## Featured Books
* [Robotics, Vision and Control 3rd Edition (Peter Corke, Witold Jachimczyk, Remo Pillat)](https://github.com/petercorke/RVC3-MATLAB)
<img src="https://github.com/petercorke/RVC3-MATLAB/raw/main/doc/978-3-031-07261-1_5208.png" alt="Front cover 978-3-031-07261-5_5208" width="100">

## Educational Hardware 
* [Quanser Pick and Place labs](https://www.mathworks.com/matlabcentral/fileexchange/125250-quanser-qarm-pick-and-place-using-mathworks-toolboxes)
* [VEX Robotics V5 support](https://www.mathworks.com/matlabcentral/fileexchange/68649-simulink-coder-support-package-for-vex-edr-v5-robot-brain)
* [Turtlebot support](https://www.mathworks.com/matlabcentral/fileexchange/55578-ros-toolbox-support-package-for-turtlebot-based-robots)
* [ROS on Raspberry Pi](https://www.mathworks.com/help/simulink/supportpkg/raspberrypi_ref/getting-started-with-robot-operating-system-ros-on-raspberry-pi-r.html)

## Learning Topics
### Introduction to Robotics
 [(Beginner) Robotics Playground [Curriculum]](https://www.mathworks.com/matlabcentral/fileexchange/67157-robotics-playground?s_tid=srchtitle) 9 Lessons covering how to use distance sensors, encoders, limit switches, and MATLAB and Simulink basics.

[(Beginner) Mobile Robotics Tutorials [Curriculum | Videos]](https://www.mathworks.com/videos/series/student-competition-mobile-robotics-training.html) 5 Video tutorials teaching basics programming skills and controls theory for autonomous path navigation.

[(Intermediate) Control of Mobile Robots [Curriculum]](https://www.mathworks.com/academia/courseware/control-mobile-robots.html) 7 Lessons covering controllers, PID, Obstacle avoidance, controller arbitration, wall following, and complete navigation system.

[(Intermediate) Applied Autonomous Robots I [Curriculum]](https://www.mathworks.com/academia/courseware/applied-autonomous-robots-1.html) 9 Lessons and exercises including basic code development, kinematics, perception, control, trajectories, potential fields, and a computer vision teaser.

[(Advanced) Applied Autonomous Robots II [Curriculum]](https://www.mathworks.com/academia/courseware/applied-autonomous-robots-2.html) 9 Lessons covering basics of computer vision, physics of color, visual servoing, filtering, camera calibration, K-means clustering and Kalman filters.

[(Advanced) Robotics Playground Expansion Pack [Curriculum]](https://www.mathworks.com/matlabcentral/fileexchange/80080-robotics-playground-expansion-pack?s_tid=srchtitle) 5 Lessons on Robot Navigation, Robot Manipulation, Contact Modeling, Path Planning implemented in a 3D simulator with realistic physics.

### Physics and Mechanics

[(Beginner) Physics Course with Symbolic Math [Curriculum]](https://www.mathworks.com/matlabcentral/fileexchange/68799-physics-course-with-symbolic-math-toolbox-and-live-editor) Chapter 4 includes live script covering classical mechanics

[(Intermediate) Electromechanical Systems [Curriculum]](https://www.mathworks.com/academia/courseware/electromechanical-engineering-systems.html) 13 Lessons covering electromechanics in depth. Some topics include digitization, electrical systems, control systems basics, filter design, PWM, physical modeling, discretization,and DC motors.

[(Advanced) Modeling, Design, and Control of Robotic Mechanisms - Kyungnam University (Curriculum)](https://www.mathworks.com/academia/courseware/modelling-design-control-robotic-mechanisms.html) 4 Topics covering planar robot dynamics, 2-DOF simulation, real-time control and an Arduino project for a walking robot.
</details>

### Controls and Estimation

[(Beginner) Controls Tutorials - University of Michigan (Curriculum)](https://ctms.engin.umich.edu/CTMS/index.php?aux=Home)
        70+ Control system tutorials including system modeling and analysis, controller design and analysis, simulation, and physical modeling, for 8 applications (motors, automobiles, aircraft, pendulums, etc).

[(Beginner) Transfer Function Analysis of Dynamic Systems (Curriculum)](https://www.mathworks.com/academia/courseware/transfer-function-analysis.html)
        4 lessons and live scripts covering transfer functions, pole-zero and frequency domain analysis.

[(Beginner) Control Design Onramp with Simulink (Interactive Tutorials)](https://matlabacademy.mathworks.com/details/control-design-onramp-with-simulink/controls)
        1-Hour interactive tutorial covering the basics of plant modeling, linearization, feedback control and PID tuning.

[(Intermediate) Control of Mobile Robots (Curriculum)](https://www.mathworks.com/academia/courseware/control-mobile-robots.html)
        7 Lessons covering controllers, PID, Obstacle avoidance, controller arbitration, wall following and complete navigation system.

[(Intermediate) Embedded Control and Mechatronics - Southern Illinois University (Curriculum)](https://www.mathworks.com/academia/courseware/embedded-control-mechatronics.html)
        14 Lectures and 2 projects covering, dynamic system modeling, system identification, simulation of nonlinear systems, analysis of linear control systems, lead-lag control, PID, LQR, optimization-based control, and LQG. Projects use Arduino for hardware implementation.

[(Advanced) Feedback linearization and nonlinear control of two link robots [Example]](https://www.mathworks.com/matlabcentral/fileexchange/115365-feedback-linearization-control-two-link-robot-using-matlab?s_tid=srchtitle)
        Simulation of a two-link robot corresponding to Example 6.2 of Applied Nonlinear Control by Slotine.

[(Advanced) Reinforcement Learning with MATLAB (Curriculum)](https://www.mathworks.com/matlabcentral/fileexchange/111460-reinforcement-learning-rl-with-matlab)
        4 Learning Modules on reinforcement learning covering Q-learning for MDP, Stochastic Gridwrold with DQN, thermal control with DDPG Agent, and robot walking.

### Sensing and Perception

[(Beginner) Intro to Image Processing - University of Wisconsin-Madison](https://serc.carleton.edu/teaching_computation/workshop_2020/activities/239248.html)
        This short project introduces students to image processing with MATLAB including importing images from the web, color transformations, circle finding, and edge finding.

[(Beginner) Getting Started with Perception [Videos | Examples]](https://www.mathworks.com/videos/series/making-vehicles-and-robots-see-getting-started-with-perception-for-students.html)
    Video tutorials and examples for:
    - Basic Image Processing
    - Image Segmentation
    - Feature Matching and Tracking
    - Point-Cloud Processing

[(Beginner) Image Processing Onramp with MATLAB](https://matlabacademy.mathworks.com/details/image-processing-onramp/imageprocessing)
        2-Hour interactive course covering image handling in MATLAB, image segmentation, pre and post processing techniques, classification, and batch processing.

[(Intermediate) Computer Vision Onramp (Self-Paced Tutorials)](https://matlabacademy.mathworks.com/details/computer-vision-onramp/orcv)
            2-Hour interactive tutorial covering processing of video data, feature extraction and matching, object detection, and tracking.

[(Intermediate) Image processing with MATLAB (Self-paced Course)](https://matlabacademy.mathworks.com/details/image-processing-with-matlab/mlip)
            11-Hour interactive tutorial covering working with images, segmentation based on color and texture, object detection, edge and shape detection, batch processing, and image registration.

[(Advanced) Deep Learning Onramp (Self-Paced Course)](https://matlabacademy.mathworks.com/details/deep-learning-onramp/deeplearning)
        2-Hour interactive tutorial covering usage of pre-trained neural networks, image management, and transfer learning for classification.

### Programming and Embedded Computing

[(Beginner) Intro to MATLAB Programming (Self-Paced Course)](https://matlabacademy.mathworks.com/details/matlab-onramp/gettingstarted)
        2-Hour Introduction to programming tutorial using MATLAB. Covering programming environment, relational operators, arrays, vectors, matrices, functions, plotting, and data import.

[(Intermediate) MATLAB and Simulink ROS Tutorials [Curriculum]](https://www.mathworks.com/matlabcentral/fileexchange/118630-matlab-and-simulink-ros-tutorials)
        9 Lessons with hands-on projects teaching the basics of interacting with robots powered by ROS (Robot Operating System).

[(Advanced) Getting Started with MATLAB, Simulink and ROS [Examples | Videos | GitHub]](https://github.com/mathworks-robotics/getting-started-ros)
      Examples and video tutorials on:
      - Using MATLAB with ROS
      - Using Simulink with ROS
      - Automatic Code Generation for ROS Nodes
      - Distributed Computing Using ROS

### Robot Intelligence 
**Navigation, Localization, Mapping and SLAM**

[(Beginner) Introduction to Mobile Robotics (Self-paced Tutorials)](https://www.mathworks.com/videos/series/student-competition-mobile-robotics-training.html)
        5 Video tutorials with accompanying simualtions covering robot control, PID design, line following, obstacle detection and path navigation.

[(Beginner) Navigation Stack Templates for Mobile Robots [Examples | Videos]](https://www.mathworks.com/matlabcentral/fileexchange/95998-autonomous-navigation-for-mobile-robots-and-ugv?s_tid=srchtitle)
Reference application and examples for:
- Mapping
- Path Following
- Path Planning
- Trajectory Generation
- Monte Carlo Localization
- SLAM

[(Intermediate) Localization and Kalman Filters [Curriculum]](https://www.mathworks.com/matlabcentral/fileexchange/109485-lessons-on-mobile-robot-localization-and-kalman-filters?s_tid=srchtitle)
        6 Lessons explaining the basics of landmark-based robot localization including: Sensor processing, robot control, localization and kalman filter theory, and ROS implementation.
    
**Manipulation**

[(Beginner) Robotic Manipulators Course Modules (Curriculum)](https://www.mathworks.com/matlabcentral/fileexchange/130124-robotic-manipulators) Live script lessons covering fundamental concepts for manipulation. Covering point translations/rotations, transformation matrices, DH parameters and more.

[(Beginner) Forward/Inverse Kinematics of 2-link robots [Interactive Example]](https://www.mathworks.com/matlabcentral/fileexchange/69892-inverse-kinematics-of-a-2-link-robot-arm?s_tid=srchtitle)
Example and simulation explaining how to derive forward/inverse kinematics, and jacobian of a 2-link chain. With final project robot writing "hello" with end effector.

[(Beginner) Workspace Analysis of Planar n-DOF robots [Example]](https://www.mathworks.com/matlabcentral/fileexchange/71136-plotworkspace-plot-workspace-of-n-dof-planar-robot?s_tid=srchtitle)
Use this function to visualize and analyze the workspaces of planar robots from their DH parameters.

[(Intermediate) Modeling and Control of Serial Manipulators using Dual-Quaternions](https://github.com/dqrobotics/learning-dqrobotics-in-matlab/tree/master/robotic_manipulators)
        8 Lessons covering how to use Dual-Quaternion (DQ) robot representations for kinematic modeling and robot control.

[(Intermediate) Designing Manipulator Algorithms [Examples | Simulations]](https://www.mathworks.com/matlabcentral/fileexchange/65316-designing-robot-manipulator-algorithms?s_tid=srchtitle)
Reference application and examples demonstrating:
- Task Space Control
- Joint Space Control
- Forward/Inverse Kinematics
- Closed-loop control
- Supervisory logic and task scheduling
- Actuator Modeling
    
**Planning**

No content yet :'( Any suggestions for this topic?
    
**Collaboration (Multi-Robot, Human-Machine)**

[Modeling Multi-Agent Robot Systems - University of Washington](https://www.pronobis.pro/teaching/mas/)
        4 Lectures and accompanying code examples covering deling multi-agent systems, graph theory for interaction, agreement protocol for rendezvous, and formation control.

### Machine Learning

**Deep Learning and Reinforcement Learning**

[(Beginner) Reinforcement Learning Onramp [Self-Paced Course]](https://matlabacademy.mathworks.com/details/reinforcement-learning-onramp/reinforcementlearning)
        3 Hour interactive tutorial covering Reinforcement learning overview, defining environments, defining agents, and training agents.
        
[(Intermediate) AI for Robotics Workshop [Examples]](https://github.com/mathworks-robotics/ai-robotics-workshop)
        Examples and lessons on how to develop a mobile robot using AI for perception and control in both simulation and with an Nvidia JetBot.

[(Intermediate) Q-learning for 4-Link robot walker (Interactive Simulator)](https://www.mathworks.com/matlabcentral/fileexchange/72928-4-link-robotic-simulator?s_tid=srchtitle) Kinematic simulator for 4-link robot walking demonstrating practical programming, inverse kinematics, Q-learning for motion control, and simulated annealing.

[(Intermediate) Reinforcement Learning with MATLAB (Curriculum)](https://www.mathworks.com/matlabcentral/fileexchange/111460-reinforcement-learning-rl-with-matlab) 4 Learning Modules on reinforcement learning covering Q-learning for MDP, Stochastic Gridwrold with DQN, thermal control with DDPG Agent, and robot walking.

## Instruction and Grading Tools
* [Interactive features for teaching](https://www.mathworks.com/academia/online-teaching/instructional-resources.html)
* [Online assignments and automatic grading](https://www.mathworks.com/academia/online-teaching/online-assessments.html)
* Work on the cloud with [MATLAB Online](https://www.mathworks.com/products/matlab-online.html) and [MATLAB Drive](https://www.mathworks.com/products/matlab-drive.html)

## More content
Didn't find what you were looking for? Try the following links to more teaching resources:
* [MATLAB and Simulink Courseware search](https://www.mathworks.com/academia/courseware/search.html?q=&fq%5B%5D=courseware_discipline:support/robotics-1508&page=1)
* [MATLAB File Exchange search](https://www.mathworks.com/matlabcentral/fileexchange/)

*Did we miss something?*
* Submit requests to add content by opening an issue in the repository

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