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Modern Robotics, Course 6: Capstone Project, Mobile Manipulation

Approx. 21 hours to complete

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Course Summary

Modern Robotics Course 6 is an advanced robotics course that focuses on the mathematical foundations of robot motion planning and control.

Key Learning Points

Learn advanced robotics concepts through mathematical foundations
Understand robot motion planning and control
Develop algorithms for robot manipulation

Learning Outcomes

Develop algorithms for robot manipulation
Understand the mathematical foundations of robot motion planning and control
Apply advanced robotics concepts to real-world problems

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

Advanced

Course Format

Online
Self-paced
Video Lectures
Assignments
Quizzes

Similar Courses

Robotics: Aerial Robotics
Robotics: Perception
Robotics: Mobility

Related Education Paths

Notable People in This Field

Sebastian Thrun
Helen Greiner

Related Books

Description

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.

Outline

Introduction to the Capstone Project, and Milestone 1
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)
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
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)
Milestone 2: Reference Trajectory Generation

Milestone 3: Feedforward Control
(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)
Milestone 3: Feedforward Control

Completing the Project and Your Submission
Completing the Project and Your Submission

Summary of User Reviews

Users rave about the Modern Robotics course, with many praising its comprehensive approach to the subject matter and the engaging teaching style of the instructor. One key aspect that many users thought was good is the practical exercises that help reinforce learning.