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Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots
  • Level Professional
  • Duration 35 hours
  • Course by Northwestern University
  • Offered by

About

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 5 of the specialization, Robot Motion Planning and Wheeled Mobile Robots, we delve into advanced topics in robotics. Chapter 12, Grasping and Manipulation, of the "Modern Robotics" textbook covers the modeling of kinematics and forces between rigid bodies in contact, and applies the modeling to analysis and planning of robot grasping and other manipulation tasks. Chapter 13, Wheeled Mobile Robots, covers modeling, motion planning, and feedback control of omnidirectional and nonholonomic wheeled mobile robots, and concludes by addressing control of mobile manipulators consisting of a wheeled mobile base and a robot arm. 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.

Modules

Chapter 12 through 12.1

    • 7 Videos
    • 3 Readings
    • 1 Discussion
    • 1 PeerReview
    • 8 Assignment
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8 Assignment

  • Lecture Comprehension, Grasping and Manipulation (Chapter 12)
  • Lecture Comprehension, First-Order Analysis of a Single Contact (Chapter 12.1.1)
  • Lecture Comprehension, Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)
  • Lecture Comprehension, Multiple Contacts (Chapter 12.1.3)
  • Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)
  • Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)
  • Lecture Comprehension, Form Closure (Chapter 12.1.7)
  • Chapter 12 through 12.1, Grasping and Manipulation

1 Peer Review

  • Evaluating Form Closure

1 Discussions

  • Centers of Rotation for a Forward-Only Car

7 Videos

  • Grasping and Manipulation (Chapter 12)
  • First-Order Analysis of a Single Contact (Chapter 12.1.1)
  • Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)
  • Multiple Contacts (Chapter 12.1.3)
  • Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)
  • Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)
  • Form Closure (Chapter 12.1.7)

3 Readings

  • Welcome to Course 5, Robot Manipulation and Wheeled Mobile Robots
  • How to Make This Course Successful
  • Chapter 12 through 12.1

Chapter 12.2 through 12.3

    • 6 Videos
    • 1 Readings
    • 1 Discussion
    • 1 PeerReview
    • 7 Assignment
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7 Assignment

  • Lecture Comprehension, Friction (Chapter 12.2.1)
  • Lecture Comprehension, Planar Graphical Methods (Chapter 12.2.2)
  • Lecture Comprehension, Force Closure (Chapter 12.2.3)
  • Lecture Comprehension, Duality of Force and Motion Freedoms (Chapter 12.2.4)
  • Lecture Comprehension, Manipulation and the Meter-Stick Trick (Chapter 12.3)
  • Lecture Comprehension, Transport of an Assembly (Chapter 12.3)
  • Chapter 12.2 through 12.3, Grasping and Manipulation

1 Peer Review

  • Determining the Stability of an Assembly

1 Discussions

  • Planar Force Closure with Two Fingers

6 Videos

  • Friction (Chapter 12.2.1)
  • Planar Graphical Methods (Chapter 12.2.2)
  • Force Closure (Chapter 12.2.3)
  • Duality of Force and Motion Freedoms (Chapter 12.2.4)
  • Manipulation and the Meter-Stick Trick (Chapter 12.3)
  • Transport of an Assembly (Chapter 12.3)

1 Readings

  • Chapter 12.2 through 12.3

Chapter 13.1 through 13.3.1

    • 4 Videos
    • 1 Readings
    • 1 Discussion
    • 5 Assignment
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5 Assignment

  • Lecture Comprehension, Wheeled Mobile Robots (Chapter 13.1)
  • Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)
  • Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)
  • Lecture Comprehension, Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)
  • Chapter 13 through 13.3.1, Wheeled Mobile Robots

1 Discussions

  • Omnidirectional Wheeled Robots with Conventional Wheels

4 Videos

  • Wheeled Mobile Robots (Chapter 13.1)
  • Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)
  • Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)
  • Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)

1 Readings

  • Chapter 13 through 13.3.1

Chapter 13.3.2 through 13.5

    • 8 Videos
    • 1 Readings
    • 1 Discussion
    • 9 Assignment
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9 Assignment

  • Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 1 of 4)
  • Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)
  • Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)
  • Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)
  • Lecture Comprehension, Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)
  • Lecture Comprehension, Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)
  • Lecture Comprehension, Odometry (Chapter 13.4)
  • Lecture Comprehension, Mobile Manipulation (Chapter 13.5)
  • Chapter 13.3.2 through 13.5, Wheeled Mobile Robots

1 Discussions

  • Controllability of the Forward-Only Car

8 Videos

  • Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 1 of 4)
  • Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)
  • Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)
  • Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)
  • Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)
  • Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)
  • Odometry (Chapter 13.4)
  • Mobile Manipulation (Chapter 13.5)

1 Readings

  • Chapter 13.3.2 through 13.5

Auto Summary

Explore the fascinating world of robotics with "Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots," designed for those serious about pursuing a career in robotics or advanced studies. This course is part of a comprehensive six-course specialization in Science & Engineering, providing an in-depth understanding of advanced robotics concepts. Led by experienced instructors and available on Coursera, this professional-level course focuses on key areas such as robot motion planning, kinematics, force modeling between rigid bodies, and the intricate workings of wheeled mobile robots. You will engage with Chapters 12 and 13 from the "Modern Robotics" textbook by Lynch and Park, delving into grasping, manipulation, and the control of mobile manipulators. Participants will gain hands-on experience by building a library of robotics software in Python, Mathematica, or MATLAB, and utilizing the free V-REP simulator to interact with cutting-edge robots. With a duration of approximately 2100 minutes, this course offers flexible learning through a Starter subscription, making it accessible for dedicated learners ready to invest in their robotics education. Ideal for aspiring robotics professionals, this course promises to equip you with the foundational skills and advanced techniques necessary to excel in the ever-evolving field of robotics.

Kevin Lynch
Instructor

Kevin Lynch