Hereby committing to an advent of robotics papers!
In the next few days leading to Christmas, I will share the 10 papers that convinced me to do a robotics PhD 3 years ago.
Conversation
Back in 2017, I was a masters student in MechE who was JUST starting robotics research. So these are not what I consider today to be the 10 *best* robotics papers. But all of them inspired me, excited me, challenged me. And made me want to dive into a PhD.
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[Paper #1] Operational Space Formulation by Oussama Khatib cs.stanford.edu/groups/manips/
There is no doubt that Opspace control made me fall in love with manipulation. I took all the robotics manipulation classes during my masters with Oussama, and he inspired me to try research 1/n
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But why do I love OpSpace control so much? Because it is so mathematically beautiful. We go from end-effector motion control and map that back into robot joint torque control. The inverse Jacobian to map from ee space to joint space is dynamically consistent -- which means 2/n
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Replying to
Heh I remember reading Khatib’s paper way back in the day. Takes me back.
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-- also in case you weren't aware, this advent calendar idea was 100% inspired by threadapalooza (aka what made me fall in love with Twitter)😁
Since I'm doing multiple tweets per paper, I might actually end up with a 100 tweet thread by the end of it 😛
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Nice! If you’re taking suggestions I’d like to hear your take on one of my favorite classics ieeexplore.ieee.org/document/45679
I’m getting back into this stuff after 14 years... planning to model/build/program a little toy Mars rover next year. Very rusty, but we’ll see how far I get.

