机器人本体：运动学与动力学Robot Mechanics: Kinematics & Dynamics
三章、14 节，把 Part I 的数学用到一个真正的机器上：结构与运动学讲机器人长什么样、位姿怎么算、速度和力怎么传；动力学讲要让它这样动，电机得出多大力矩；机器人形态讲轮式、足式、手和执行器各自的特点与约束。 Three chapters and 14 lessons that put Part I's mathematics to work on a real machine: structure and kinematics covers what a robot looks like, how its pose is computed and how velocity and force flow through it; dynamics covers the torques the motors must supply to make it move that way; embodiments covers what is special about wheels, legs, hands and actuators.
1三章之间的关系How the three chapters connect
这三章建立在 Part I 之上，又支撑着后面的控制、视觉与学习。把鼠标放在（或点击）任意一个方块上：琥珀色是它依赖的部分，紫色是用到它的部分；虚线框是 Part I 的章节或后续部分。
These three chapters build on Part I and support the control, vision and learning parts that follow. Hover (or tap) any box: amber shows what it builds on, purple shows what builds on it; dashed boxes are Part I chapters or later parts.
2各章一览The chapters
★ 标记的是核心节，点击标题即可进入（灰色的是尚未上线的节）。每章都会写出它的"一句话直觉"和在机器人中的主要用途。
★ marks core lessons; click a title to open it (greyed-out lessons are not live yet). Each chapter lists its one-line intuition and its main uses in robotics.
3按目标选路线Pick a route by goal
时间有限的话，可以按你的方向挑一条路线先走通，再回头补全。
Short on time? Pick the route that matches your direction, walk it end to end, then come back and fill in the rest.