Guest lecturer Krasimir Kolarov (co-writer of the lecture notes along with Professor Khatib) presents Trajectory Generation. Lecture by Professor Oussama Khatib for Introduction to Robotics (CS223A) in the Stanford Computer Science Department.  CS223A is an introduction to robotics which covers topics such as Spatial Descriptions, Forward Kinematics, Inverse Kinematics, Jacobians, Dynamics, Motion Planning and Trajectory Generation, Position and Force Control, and Manipulator Design.

Complete Playlist for the Course:
http://www.youtube.com/view_play_list?p=65CC0384A1798ADF