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Modern Robotics, Course 3: Robot Dynamics

Approx. 22 hours to complete

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Course Summary

This course is focused on the motion planning problem for mobile robots, which is a fundamental problem in robotics. It covers many of the classic results in the field and also some of the more recent developments.

Key Learning Points

Learn about the motion planning problem for mobile robots
Discover classic results as well as recent developments in the field
Understand how to apply motion planning algorithms to real-world scenarios

Job Positions & Salaries of people who have taken this course might have

Robotics Engineer
- USA: $90,000 - $120,000
- India: ₹600,000 - ₹1,200,000
- Spain: €25,000 - €45,000
Autonomous Vehicle Engineer
- USA: $100,000 - $150,000
- India: ₹800,000 - ₹2,000,000
- Spain: €30,000 - €60,000
Robotics Researcher
- USA: $80,000 - $120,000
- India: ₹600,000 - ₹1,500,000
- Spain: €20,000 - €50,000

Learning Outcomes

Ability to design and implement motion planning algorithms for mobile robots
Understanding of classic and modern approaches to the motion planning problem
Awareness of real-world applications of motion planning in robotics

Prerequisites or good to have knowledge before taking this course

Basic knowledge of linear algebra and calculus
Familiarity with programming in Python

Course Difficulty Level

Intermediate

Course Format

Online
Self-paced
Video Lectures
Programming Assignments

Similar Courses

AI for Robotics
Robotics: Perception

Related Education Paths

Notable People in This Field

Sebastian Thrun
Helen Greiner

Related Books

Description

Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler. In Course 3 of the specialization, Robot Dynamics, you will learn efficient numerical algorithms for forward dynamics (calculating the robot's acceleration given its configuration, velocity, and joint forces and torques) and inverse dynamics (calculating the required joint forces and torques given the robot's configuration, velocity, and acceleration). The former is useful for simulation, and the latter is useful for robot control. You will also learn how to plan robot trajectories subject to dynamic constraints. This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment.

Outline

Chapter 8: Dynamics of Open Chains (Part 1 of 2)
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)
Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)
Understanding the Mass Matrix (Chapter 8.1.3)
Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)
Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)
Newton-Euler Inverse Dynamics (Chapter 8.3)
Welcome to Course 3, Robot Dynamics
How to Make This Course Successful
Chapter 8 through 8.3
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 1 of 2)
Lecture Comprehension, Lagrangian Formulation of Dynamics (Chapter 8 through 8.1.2, Part 2 of 2)
Lecture Comprehension, Understanding the Mass Matrix (Chapter 8.1.3)
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 1 of 2)
Lecture Comprehension, Dynamics of a Single Rigid Body (Chapter 8.2, Part 2 of 2)
Lecture Comprehension, Newton-Euler Inverse Dynamics (Chapter 8.3)
Chapter 8 through 8.3, Dynamics of Open Chains

Chapter 8: Dynamics of Open Chains (Part 2 of 2)
Forward Dynamics of Open Chains (Chapter 8.5)
Dynamics in the Task Space (Chapter 8.6)
Constrained Dynamics (Chapter 8.7)
Actuation, Gearing, and Friction (Chapter 8.9)
Chapters 8.5-8.7 and 8.9
Lecture Comprehension, Forward Dynamics of Open Chains (Chapter 8.5)
Lecture Comprehension, Dynamics in the Task Space (Chapter 8.6)
Lecture Comprehension, Constrained Dynamics (Chapter 8.7)
Lecture Comprehension, Actuation, Gearing, and Friction (Chapter 8.9)
Chapter 8.5-8.7 and 8.9, Dynamics of Open Chains

Chapter 9: Trajectory Generation (Part 1 of 2)
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)
Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)
Polynomial Via Point Trajectories (Chapter 9.3)
Chapter 9 through 9.3
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 1 of 2)
Lecture Comprehension, Point-to-Point Trajectories (Chapter 9 through 9.2, Part 2 of 2)
Lecture Comprehension, Polynomial Via Point Trajectories (Chapter 9.3)
Chapter 9 through 9.3, Trajectory Generation

Chapter 9: Trajectory Generation (Part 2 of 2)
Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)
Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)
Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)
Chapter 9.4
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 1 of 3)
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 2 of 3)
Lecture Comprehension, Time-Optimal Time Scaling (Chapter 9.4, Part 3 of 3)
Chapter 9.4, Trajectory Generation

Summary of User Reviews

The Modern Robotics Course 3 has received positive feedback from learners. Many users found the course to be comprehensive and engaging. The course covers a wide range of topics related to robotic motion planning and control, making it suitable for learners with different levels of expertise.

Key Aspect Users Liked About This Course

Comprehensive and engaging course content

Pros from User Reviews

In-depth coverage of robotic motion planning and control
High-quality video lectures and clear explanations
Challenging assignments that help reinforce key concepts
Interactive simulations and visualizations that make learning fun
Access to a supportive online community of learners and instructors

Cons from User Reviews

Some learners found the course to be too challenging
The course requires a solid background in mathematics and programming
The pace of the course may be too fast for some learners
The course is only available in English
Some learners experienced technical issues with the online platform

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