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Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
  • Level Professional
  • Duration 21 hours
  • Course by Northwestern University
  • Offered by

About

The capstone project of the Modern Robotics specialization is on mobile manipulation: simultaneously controlling the motion of a wheeled mobile base and its robot arm to achieve a manipulation task. This project integrates several topics from the specialization, including trajectory planning, odometry for mobile robots, and feedback control. Beginning from the Modern Robotics software library provided to you (written in Python, Mathematica, and MATLAB), and software you have written for previous courses, you will develop software to plan and control the motion of a mobile manipulator to perform a pick and place task. You will test your software on the KUKA youBot, a mobile manipulator consisting of an omnidirectional mecanum-wheel mobile base, a 5-joint robot arm, and a gripper. The state-of-the-art, cross-platform V-REP robot simulator will be used to simulate the task.

Modules

Capstone Project and Milestone 1: youBot Kinematics Simulator and csv Output

    • 5 Videos
    • 3 Readings
    • 1 Discussion
Show info about module content

1 Discussions

  • Milestone 1 Discussion

5 Videos

  • Introduction to the Capstone Project: Mobile Manipulation
  • Video Summary of the Capstone Project
  • (Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)
  • (Optional Review) Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)
  • (Optional Review) Odometry (Chapter 13.4)

3 Readings

  • Welcome to Course 6, Capstone Project on Mobile Manipulation
  • How to Make This Course Successful
  • Milestone 1: youBot Kinematics Simulator and csv Output

Milestone 2: Reference Trajectory Generation

    • 3 Videos
    • 1 Readings
    • 1 Discussion
Show info about module content

1 Discussions

  • Milestone 2 Discussion

3 Videos

  • Milestone 2: Reference Trajectory Generation
  • (Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)
  • (Optional Review) Point-to-Point Trajectories (Chapters 9.1 and 9.2, Part 1 of 2)

1 Readings

  • Milestone 2: Reference Trajectory Generation

Milestone 3: Feedforward Control

    • 4 Videos
    • 1 Readings
    • 1 Discussion
Show info about module content

1 Discussions

  • Milestone 3 Discussion

4 Videos

  • (Optional Review) Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.2)
  • (Optional Review) Body Jacobian (Chapter 5.1.2)
  • (Optional Review) Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)
  • (Optional Review) Mobile Manipulation (Chapter 13.5)

1 Readings

  • Milestone 3: Feedforward Control

Completing the Project and Your Submission

    • 1 Readings
    • 1 Discussion
    • 1 PeerReview
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1 Peer Review

  • Completing the Project and Your Submission

1 Discussions

  • Discussion on Completing the Project

1 Readings

  • Completing the Project and Your Submission

Auto Summary

Dive into mobile manipulation with this capstone project from the Modern Robotics specialization. Led by Coursera, this course focuses on controlling a wheeled mobile base and robot arm to achieve manipulation tasks. Integrate skills in trajectory planning, odometry, and feedback control using Python, Mathematica, and MATLAB. Test your software on the KUKA youBot in the V-REP simulator. Suitable for professionals, the course spans 1260 minutes and offers Starter and Professional subscription options. Ideal for those in Science & Engineering seeking advanced robotics expertise.

Kevin Lynch
Instructor

Kevin Lynch