{"id":68,"date":"2024-11-11T14:06:47","date_gmt":"2024-11-11T14:06:47","guid":{"rendered":"https:\/\/energyawarerobotics.eu\/?page_id=68"},"modified":"2025-06-16T11:35:25","modified_gmt":"2025-06-16T11:35:25","slug":"lecture-notes","status":"publish","type":"page","link":"https:\/\/energyawarerobotics.eu\/?page_id=68","title":{"rendered":"Theoretical Notes"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><mark style=\"background-color:rgba(0, 0, 0, 0);color:#e31b1b\" class=\"has-inline-color\">WORK IN PROGRESS: The following contents are drafts and will be expanded and finalized shortly.<\/mark><\/p>\n\n\n\n<h3 class=\"wp-block-heading alignwide\">Lectures Note on Energy-Aware Robotics<\/h3>\n\n\n\n<div class=\"wp-block-group alignfull has-medium-font-size is-layout-grid wp-container-core-group-is-layout-299fd826 wp-block-group-is-layout-grid\" style=\"padding-right:var(--wp--preset--spacing--80);padding-left:var(--wp--preset--spacing--80)\">\n<div class=\"_df_thumb \" id=\"df_73\"  _slug=\"73\" data-title=\"energy-aware-robotics\" wpoptions=\"true\" thumb=\"https:\/\/energyawarerobotics.eu\/wp-content\/uploads\/2024\/11\/Screenshot-2025-01-21-172711.png\" thumbtype=\"\" >Energy-Aware Robotics<\/div><script class=\"df-shortcode-script\" nowprocket type=\"application\/javascript\">window.option_df_73 = {\"outline\":[],\"height\":\"calc( 100vh - 80px)\",\"viewerType\":\"flipbook\",\"autoEnableOutline\":\"false\",\"autoEnableThumbnail\":\"false\",\"overwritePDFOutline\":\"false\",\"direction\":\"1\",\"pageSize\":\"0\",\"maxTextureSize\":\"1800\",\"source\":\"https:\\\/\\\/energyawarerobotics.eu\\\/wp-content\\\/uploads\\\/2024\\\/11\\\/energyawarerobotics_eu__v1_0_.pdf\",\"wpOptions\":\"true\"}; if(window.DFLIP && window.DFLIP.parseBooks){window.DFLIP.parseBooks();}<\/script>\n\n\n\n<p class=\"wp-container-content-4471a044 wp-block-paragraph\">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<br><br><strong>Current Version Note:<\/strong><br>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. <br><\/p>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading alignwide\">Additional Notes on Algebra &amp; Geometry <\/h3>\n\n\n\n<div class=\"wp-block-group alignfull has-medium-font-size is-layout-grid wp-container-core-group-is-layout-299fd826 wp-block-group-is-layout-grid\" style=\"padding-right:var(--wp--preset--spacing--80);padding-left:var(--wp--preset--spacing--80)\">\n<div class=\"_df_thumb \" id=\"df_166\"  _slug=\"geometry\" data-title=\"geometry\" wpoptions=\"true\" thumbtype=\"\" >Geometry<\/div><script class=\"df-shortcode-script\" nowprocket type=\"application\/javascript\">window.option_df_166 = {\"outline\":[],\"autoEnableOutline\":\"false\",\"autoEnableThumbnail\":\"false\",\"overwritePDFOutline\":\"false\",\"direction\":\"1\",\"pageSize\":\"0\",\"source\":\"https:\\\/\\\/energyawarerobotics.eu\\\/wp-content\\\/uploads\\\/2025\\\/06\\\/Notes_on_Algebra_and_Geometry__pub_.pdf\",\"wpOptions\":\"true\"}; if(window.DFLIP && window.DFLIP.parseBooks){window.DFLIP.parseBooks();}<\/script>\n\n\n\n<p class=\"wp-container-content-4471a044 wp-block-paragraph\">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<br><br><strong>Current Version Note:<\/strong><br>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.<\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>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 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-68","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Theoretical Notes -<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"http:\/\/energyawarerobotics.eu\/?page_id=68\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Theoretical Notes -\" \/>\n<meta property=\"og:description\" content=\"WORK IN PROGRESS: The following contents are drafts and will be expanded and finalized shortly. 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