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Modern Robotics, Course 4: Robot Motion Planning and Control

Approx. 32 hours to complete

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Course Summary

This course focuses on robot kinematics, dynamics, control, and motion planning. It provides an in-depth understanding of modern robotics and its applications in real-world scenarios.

Key Learning Points

Learn fundamental concepts of robot kinematics, dynamics, control, and motion planning.
Understand the mathematical and computational tools required to design and control robots.
Gain practical experience in programming robots using ROS and Matlab.
Explore various applications of modern robotics in industries such as healthcare, manufacturing, and transportation.

Learning Outcomes

Design and control robots using modern robotics concepts and tools.
Apply mathematical and computational techniques to solve real-world robotics problems.
Develop practical skills in programming robots using ROS and Matlab.

Prerequisites or good to have knowledge before taking this course

Basic knowledge of linear algebra and calculus.
Familiarity with programming languages such as Python or C++.

Course Difficulty Level

Intermediate

Course Format

Online
Self-paced

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Robotics: Perception
Robotics: Vision Intelligence and Machine Learning

Related Education Paths

Notable People in This Field

Founder of iRobot and Rethink Robotics
Co-founder of iRobot and CyPhy Works

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 4 of the specialization, Robot Motion Planning and Control, you will learn key concepts of robot motion generation: planning a motion for a robot in the presence of obstacles, and real-time feedback control to track the planned motion. Chapter 10, Motion Planning, of the "Modern Robotics" textbook covers foundational material like C-space obstacles, graphs and trees, and graph search, as well as classical and modern motion planning techniques, such as grid-based motion planning, randomized sampling-based planners, and virtual potential fields. Chapter 11, Robot Control, covers motion control, force control, and hybrid motion-force control. 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 10: Motion Planning (Part 1 of 2)
Overview of Motion Planning (Chapter 10.1)
C-Space Obstacles (Chapter 10.2.1)
Graphs and Trees (Chapter 10.2.3)
Graph Search (Chapter 10.2.4)
Complete Path Planners (Chapter 10.3)
Welcome to Course 4, Robot Motion Planning and Control
How to Make This Course Successful
Chapter 10 through 10.3
Lecture Comprehension, Overview of Motion Planning (Chapter 10.1)
Lecture Comprehension, C-Space Obstacles (Chapter 10.2.1)
Lecture Comprehension, Graphs and Trees (Chapter 10.2.3)
Lecture Comprehension, Graph Search (Chapter 10.2.4)
Lecture Comprehension, Complete Path Planners (Chapter 10.3)
Chapter 10 through 10.3, Motion Planning

Chapter 10: Motion Planning (Part 2 of 2)
Grid Methods for Motion Planning (Chapter 10.4)
Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)
Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)
Virtual Potential Fields (Chapter 10.6)
Nonlinear Optimization (Chapter 10.7)
Chapter 10.4 through 10.7
Lecture Comprehension, Grid Methods for Motion Planning (Chapter 10.4)
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)
Lecture Comprehension, Virtual Potential Fields (Chapter 10.6)
Lecture Comprehension, Nonlinear Optimization (Chapter 10.7)
Chapter 10.4 through 10.7, Motion Planning

Chapter 11: Robot Control (Part 1 of 2)
Control System Overview (Chapter 11.1)
Error Response (Chapter 11.2.1)
Linear Error Dynamics (Chapter 11.2.2)
First-Order Error Dynamics (Chapter 11.2.2.1)
Second-Order Error Dynamics (Chapter 11.2.2.2)
Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)
Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)
Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)
Chapter 11 through 11.3
Lecture Comprehension, Control System Overview (Chapter 11.1)
Lecture Comprehension, Error Response (Chapter 11.2.1)
Lecture Comprehension, Linear Error Dynamics (Chapter 11.2.2)
Lecture Comprehension, First-Order Error Dynamics (Chapter 11.2.2.1)
Lecture Comprehension, Second-Order Error Dynamics (Chapter 11.2.2.2)
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)
Chapter 11 through 11.3, Robot Control

Chapter 11: Robot Control (Part 2 of 2)
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)
Force Control (Chapter 11.5)
Hybrid Motion-Force Control (Chapter 11.6)
Chapter 11.4 through 11.6
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)
Lecture Comprehension, Force Control (Chapter 11.5)
Lecture Comprehension, Hybrid Motion-Force Control (Chapter 11.6)
Chapter 11.4 through 11.6, Robot Control

Summary of User Reviews

The Modern Robotics Course 4 is highly recommended by many users for its comprehensive coverage of advanced topics in robotics. The course is rated very highly by many individuals.

Key Aspect Users Liked About This Course

The course is highly praised for its comprehensive coverage of advanced topics in robotics.

Pros from User Reviews

Excellent content that covers advanced topics
Easy to follow lecture videos and course materials
Engaging and interactive course activities
Accessible to beginners and experts alike
Well-structured course curriculum

Cons from User Reviews

Some users found the course to be too technical
Course assignments can be challenging
Occasional technical issues with the platform
Some users would have preferred more hands-on activities
The course may be too advanced for some beginners

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