WORK IN PROGRESS: The following contents are drafts and will be expanded and finalized shortly.
Lectures Note on Energy-Aware Robotics
This document aims to provide a comprehensive guide to energy-aware robotics. The material is organized to facilitate quick reference and efficient comprehension, with key notions highlighted through color-coded boxes and symbolic aids for enhanced clarity and navigation
Current Version Note:
The current version of this document primarily addresses the mathematical foundations (Part I) and introduces key concepts of port-Hamiltonian theory (Part II). The second part, however, remains a work in progress and currently concludes with the topic of Bond graphs. Future editions will extend the coverage to include advanced topics in control theory.
Additional Notes on Algebra & Geometry
This document aims to provide a comprehensive guide to differential geometry, which are crucial for grasping the geometric and structural underpinnings of energy-based modeling approaches
Current Version Note:
The current version covers the fundamentals of multilinear algebra (Chapter 1), smooth manifolds (Chapter 2), and differentials and differential forms (Chapter 3). Grassmann algebra and Rham cohomology (Chapter 4) are planned for inclusion in future versions. The discussion of affine and metric manifolds (Chapter 5) is still under development and will be expanded in forthcoming editions.