MLS second edition
This page collections information related to the second edition of A Mathematical Introduction to Robotic Manipulation by Murray, Li and Sastry (1994).
Courses that use MLS94
The following courses use MLS94 as a required textbook:
 Boston University, ME/SE 740 – Vision, Robotics & Planning (syllabus)
 California Insitute of Technology, ME 115  Introduction to Kinematics and Robotics
 University of British Columbia, EECE 487  Introduction to Robotics
 University of California, Berkeley, EE 125  Introduction to Robotics
 University of Maryland, ENME808V  A Mathematical Introduction to Robotics (syllabus)
Other robotics textbooks
 Principles of Robot Motion: Theory, Algorithms, and Implementations, Choset et al. MIT Press, 2005.
 Introduction to Robotics: Mechanics and Control (3rd edition), John J. Craig. PrenticeHall, 2004.
 Robotics: Modelling, Planning and Control, Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer, 2008.
 Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, M. Vidyasagar. Wiley, 2005.
Updated table of contents
Chapter 1. Introduction
 Brief History
 Multifingered Hands and Dextrous Manipulation
 Robotic locomotion and path planning (new; RMM)
 Outline of the Book
 Bibliography
Chapter 2. Rigid Body Motion
 Rigid Body Transformations
 Rotational Motion in R^3
 Updates from Zexiang on other representations of SO(3)
 Rigid Motion in R^3
 Updates on exponential map for SE(2) from Zexiang
 Velocity of a Rigid Body
 Wrenches and Reciprocal Screws

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 Exercises
Chapter 3. Manipulator Kinematics
 Introduction
 Forward Kinematics
 Inverse Kinematics
 The Manipulator Jacobian

Redundant and Parallel Manipulators(move to new chapter) 
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 Exercises
Chapter 3X. Parallel Manipulators and Mechanism Design (Zexiang)
 This is a new chapter that will be written by Zexiang
Chapter 4. Robot Dynamics and Control
 Introduction
 Lagrange's Equations
 Dynamics for an OpenChain Manipulator
 Lyapunov Stability Theory
 Position Control and Trajectory Tracking
 Control of Constrained Manipulators

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 Exercises
Chapter 5. Multifingered Hand Kinematics
 Introduction to Grasping
 Grasp Statics
 ForceClosure
 Grasp Planning
 Grasp constraints
 Rolling contact kinematics

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 Exercises
Chapter 6. Hand Dynamics and Control
 Lagrange's Equations with Constraints
 Robot Hand Dynamics
 Redundant and NonManipulable Robot Systems
 Kinematics and statics of tendon actuation
 Control of Robot Hands

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 Exercises
Chapter 7. Nonholonomic Behavior in Robotic Systems
 Introduction
 Controllability and the Frobenius theorem
 Examples of Nonholonomic Systems
 Structure of Nonholonomic Systems
 Locomotion Systems (new; Richard)

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 Exercises
 This chapter would be substantially rewritten by Richard to make closer connections to the fiber bundle picture in nonholonomic mechanics. A new section on locomotion systems will be added.
Chapter 8. Nonholonomic Motion Planning
 Introduction
 Steering Model Control Systems Using Sinusoids

General Methods for Steering  Dynamic Finger Repositioning
 Planning using differential flatness (new; Richard)

Summary(move to wiki)  Bibliography
 Exercises
 This chapter would be substantially rewritten by Richard to use more modern formalisms in trajectory generation and tracking, including the ues of differential flatness.
Chapter 8X. Computer Vision (Shankar)
 We are considering adding a chapter on computer vision that links with the main text. The main topic here would be on structure from motion.
Chapter 9. Future Prospects
 This chapter will be deleted from the text
Appendix A. Lie Groups and Robot Kinematics
 Differentiable Manifolds
 Lie Groups
 The Geometry of the Euclidean Group
Appendix B. A Mathematica Package for Performing Screw Calculus