[ASBR] Day 0 — Algorithms for Sensor-Based Robotics

This series is a personal collection of lecture notes and concept summaries from the Spring 2026 course Algorithms for Sensor-Based Robotics (ASBR) at The University of Texas at Austin.

During the summer, I will be spending time in Korea and away from my usual research environment. Since I will not have access to my robotics setup or ongoing lab work, I wanted to use this time to revisit and organize the theoretical foundations behind robotics, surgical robotics, teleoperation, and robotic perception.

Rather than treating these notes as polished tutorials, I want this series to function more like a long-term technical notebook — a place to organize and revisit the mathematical and algorithmic ideas that repeatedly appear in robotics research:

• Rigid body motion and SE(3)
• Rotation representations and twists
• Forward and inverse kinematics
• Jacobians and singularities
• Optimization-based IK
• Registration and calibration
• Teleoperation and virtual fixtures
• Surgical robotics concepts

The primary source material for this series comes from the Spring 2026 lecture notes of:

Algorithms for Sensor-Based Robotics (ASBR)
Instructor: Farshid Alambeigi

All credits for the original course materials belong to Prof. Farshid Alambeigi.
These posts are only my personal study notes and interpretations of the material.

Hopefully, by the end of the summer, this series will become both:

1. a compact robotics theory reference for myself, and
2. a useful roadmap for anyone trying to connect modern robotics mathematics to surgical robotics applications.