{"id":25689372,"url":"https://github.com/zcemycl/robotics","last_synced_at":"2025-04-24T02:27:20.373Z","repository":{"id":114281734,"uuid":"231943120","full_name":"zcemycl/Robotics","owner":"zcemycl","description":"Python implementations of University of Pennsylvania Robotics Specialization, and more.","archived":false,"fork":false,"pushed_at":"2022-08-30T10:07:33.000Z","size":28475,"stargazers_count":28,"open_issues_count":0,"forks_count":12,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-04-21T15:14:34.699Z","etag":null,"topics":["computer-vision","robotics","robotics-specialization"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/zcemycl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-01-05T16:13:53.000Z","updated_at":"2025-01-26T03:35:29.000Z","dependencies_parsed_at":"2023-07-16T03:45:13.916Z","dependency_job_id":null,"html_url":"https://github.com/zcemycl/Robotics","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zcemycl%2FRobotics","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zcemycl%2FRobotics/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zcemycl%2FRobotics/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zcemycl%2FRobotics/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/zcemycl","download_url":"https://codeload.github.com/zcemycl/Robotics/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":250547308,"owners_count":21448464,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["computer-vision","robotics","robotics-specialization"],"created_at":"2025-02-24T22:01:09.019Z","updated_at":"2025-04-24T02:27:20.366Z","avatar_url":"https://github.com/zcemycl.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Robotics [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) [![Hits](https://hits.seeyoufarm.com/api/count/incr/badge.svg?url=https%3A%2F%2Fgithub.com%2Fzcemycl%2FRobotics\u0026count_bg=%2379C83D\u0026title_bg=%23555555\u0026icon=\u0026icon_color=%23E7E7E7\u0026title=hits\u0026edge_flat=false)](https://hits.seeyoufarm.com)\nCollection of Python implementations of Robotics and Computer Vision theories taught in \n1. University of Pennsylvania [Robotics Specialization](https://www.coursera.org/specializations/robotics?) \n2. University of Cambridge [Computer Vision](https://www.cl.cam.ac.uk/teaching/1617/E4F12/)\n3. University of Cambridge Robotics\n4. University of Cambridge [Reinforcement Learning and Decision Making](http://mlg.eng.cam.ac.uk/teaching/mlsalt7/1516/)\n5. Robot Ignite Academy [[link]](https://www.robotigniteacademy.com/en/)\n\nAims of this repo are to rewrite all MATLAB demos from the online courses into Python to develop a deeper understanding about those Robotics and Computer Vision concepts, and provide more readable scripts for beginners to begin their learning about Robotics. [**Mobility course is coming soon!]\n\n## Configuration\n+ Python 3.7.4 + numpy 1.16.5 + scipy 1.3.1 + matplotlib 3.1.1 + yaml 5.1.2 + open-cv 3.4.2 + glob 0.7 + tqdm 4.36.1 + sympy 1.4 + slycot 0.3.5.0 + pydobot\n\n## Table of Contents\n+ [Quadcopter 1D](Aerial%20Robotics/Quadcopter1D.ipynb) + [Quadcopter 2D](Aerial%20Robotics/Quadcopter2D.ipynb) \n+ [Dijkstra Algorithm](Computational%20Motion%20Planning/DijkstraGrid/DijkstraAlgorithm.ipynb) + [A-star Algorithm](Computational%20Motion%20Planning/Astar/AstarAlgorithm.ipynb) + [Configuration Space](Computational%20Motion%20Planning/ConfigurationSpace/ConfigurationSpace.ipynb) + [Potential Field Path](Computational%20Motion%20Planning/PotentialFieldPlanPath/PotentialFieldPath.ipynb)\n+ [2D Homography](Perception/Logo%20Projection/LogoProjection.ipynb) + [3D Homography](Perception/3D%20object%20projection/3D%20Homography.ipynb) + [Optical Track](Perception/Optical%20Track/CornerTracking.ipynb) + [Point Cloud](Perception/Point%20Cloud/PointCloud.ipynb) + [Calibration](Perception/Calibration/calibrationviaChessBoard.ipynb)\n+ [Kalman Filter](Estimation%20and%20Learning/Kalman%20Filter/BallPathPrediction_KalmanFilter.ipynb) + [Occupancy Grid Map](Estimation%20and%20Learning/Occupancy%20Grid%20Map/occGridMapping.ipynb) + [Particle Localization](Estimation%20and%20Learning/Particle%20Localization/ParticleLocalization.ipynb)\n+ [Proportional-Derivative Control](Capstone/PD%20control/PDTrack.ipynb) + [Proportional-Derivative Track Arm](Capstone/PD%20control/ManipTrack.ipynb) + [Solve Ordinary Differential Equation](Capstone/ODE%20solver/Ordinary%20Differential%20Equation.ipynb) + [Estimated Kalman Filter](Capstone/Estimated%20Kalman%20Filter/EKF.ipynb)\n+ [Mobile Inverted Pendulum](Capstone/Mobile%20Inverted%20Pendulum/MIP.ipynb) + [Linear–quadratic regulator Mobile Inverted Pendulum](Capstone/LQR%20MIP/LQRMIP.ipynb) + [Proportional–Integral–Derivative controller Mobile Inverted Pendulum](Capstone/PID%20MIP/PIDControlMIP.ipynb)\n+ [Value Iteration](Reinforcemnet%20Learning/ValueIteration.ipynb) + [Policy Iteration](Reinforcemnet%20Learning/PolicyIteration.ipynb) + [State–Action–Reward–State–Action](Reinforcemnet%20Learning/sarsa.ipynb) + [Q-Learning](Reinforcemnet%20Learning/q-learning.ipynb)\n+ [Suceptible-Infectious-Removed](simWUCOV.py)\n\n\n## Outputs\n[Quadcopter 1D](Aerial%20Robotics/Quadcopter1D.ipynb) | [Quadcopter 2D](Aerial%20Robotics/Quadcopter2D.ipynb) |[Dijkstra Algorithm](Computational%20Motion%20Planning/DijkstraGrid/DijkstraAlgorithm.ipynb)|[A-star Algorithm](Computational%20Motion%20Planning/Astar/AstarAlgorithm.ipynb)\n:-------------------------:|:-------------------------:|:--:|:--:\n\u003cimg src=\"Aerial%20Robotics/aerial1d.png\" width=\"200\"\u003e|\u003cimg src=\"Aerial%20Robotics/quadcopter2D.gif\" width=\"200\"\u003e|\u003cimg src=\"Computational%20Motion%20Planning/DijkstraGrid/Dijkstra.gif\" width=\"200\"\u003e|\u003cimg src=\"Computational%20Motion%20Planning/Astar/AStar.gif\" width=\"200\"\u003e\n[Configuration Space](Computational%20Motion%20Planning/ConfigurationSpace/ConfigurationSpace.ipynb)|[Potential Field Path](Computational%20Motion%20Planning/PotentialFieldPlanPath/PotentialFieldPath.ipynb)|[2D Homography](Perception/Logo%20Projection/LogoProjection.ipynb)|[3D Homography](Perception/3D%20object%20projection/3D%20Homography.ipynb)\n\u003cimg src=\"Computational%20Motion%20Planning/ConfigurationSpace/configspace.png\" width=\"200\"\u003e|\u003cimg src=\"Computational%20Motion%20Planning/PotentialFieldPlanPath/result.png\" width=\"200\"\u003e|\u003cimg src=\"Perception/Logo%20Projection/result.png\" width=\"160\"\u003e|\u003cimg src=\"Perception/3D%20object%20projection/ar_result.png\" width=\"160\"\u003e\n[Optical Track](Perception/Optical%20Track/CornerTracking.ipynb)|[Point Cloud](Perception/Point%20Cloud/PointCloud.ipynb)|[Calibration](Perception/Calibration/calibrationviaChessBoard.ipynb)|[Kalman Filter](Estimation%20and%20Learning/Kalman%20Filter/BallPathPrediction_KalmanFilter.ipynb)\n\u003cimg src=\"Perception/Optical%20Track/result.png\" width=\"160\"\u003e|\u003cimg src=\"Perception/Point%20Cloud/pointcloud.png\" width=\"160\"\u003e|\u003cimg src=\"Perception/Calibration/calibrationChessBoard.png\" width=\"160\"\u003e|\u003cimg src=\"Estimation%20and%20Learning/Kalman%20Filter/BallPathPrediction.png\" width=\"200\"\u003e\n[Occupancy Grid Map](Estimation%20and%20Learning/Occupancy%20Grid%20Map/occGridMapping.ipynb)|[Particle Localization](Estimation%20and%20Learning/Particle%20Localization/ParticleLocalization.ipynb)|[PD Control](Capstone/PD%20control/PDTrack.ipynb)|[PD Track Arm](Capstone/PD%20control/ManipTrack.ipynb)\n\u003cimg src=\"Estimation%20and%20Learning/Occupancy%20Grid%20Map/occGridMap.gif\" width=\"200\"\u003e|\u003cimg src=\"Estimation%20and%20Learning/Particle%20Localization/particleLocalization.png\" width=\"200\"\u003e|\u003cimg src=\"Capstone/PD%20control/PDTrackresult.png\" width=\"200\"\u003e|\u003cimg src=\"Capstone/PD%20control/PDArm.png\" width=\"200\"\u003e\n[Solve ODE](Capstone/ODE%20solver/Ordinary%20Differential%20Equation.ipynb)|[Estimated Kalman Filter](Capstone/Estimated%20Kalman%20Filter/EKF.ipynb)|[Mobile Inverted Pendulum](Capstone/Mobile%20Inverted%20Pendulum/MIP.ipynb)|[LQR MIP](Capstone/LQR%20MIP/LQRMIP.ipynb)\n\u003cimg src=\"Capstone/ODE%20solver/ODEresult.png\" width=\"200\"\u003e|\u003cimg src=\"Capstone/Estimated%20Kalman%20Filter/EKFresult.png\" width=\"200\"\u003e|\u003cimg src=\"Capstone/Mobile%20Inverted%20Pendulum/MIP.gif\" width=\"200\"\u003e|\u003cimg src=\"Capstone/LQR%20MIP/LQRMIPresult.png\" width=\"200\"\u003e\n[PID MIP](Capstone/PID%20MIP/PIDControlMIP.ipynb)|[Value Iteration](Reinforcemnet%20Learning/ValueIteration.ipynb)|[sarsa](Reinforcemnet%20Learning/sarsa.ipynb)|[Q-Learning](Reinforcemnet%20Learning/q-learning.ipynb)\n\u003cimg src=\"Capstone/PID%20MIP/PIDMIPresult.png\" width=\"200\"\u003e|\u003cimg src=\"Reinforcemnet%20Learning/ValIter1.png\" width=\"200\"\u003e|\u003cimg src=\"Reinforcemnet%20Learning/sarsa3.png\" width=\"200\"\u003e|\u003cimg src=\"Reinforcemnet%20Learning/qlearn3.png\" width=\"200\"\u003e\n[SIR model](simWUCOV.py)|||\n\u003cimg src=\"SIR.gif\" width=\"200\"\u003e|||\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzcemycl%2Frobotics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzcemycl%2Frobotics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzcemycl%2Frobotics/lists"}