Modern Robotics, Course 4: Robot Motion Planning and Control
Northwestern University via Coursera
-
116
-
- Write review
Overview
Class Central Tips
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.
Syllabus
- Chapter 10: Motion Planning (Part 1 of 2)
- C-space obstacles, graphs and trees, and A* graph search.
- Chapter 10: Motion Planning (Part 2 of 2)
- Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization.
- Chapter 11: Robot Control (Part 1 of 2)
- First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities.
- Chapter 11: Robot Control (Part 2 of 2)
- Motion control of robots when the output of the controller commands joint torques, force control, and hybrid motion-force control.
Taught by
Kevin Lynch
Tags
Related Courses
-
Modern Robotics, Course 1: Foundations of Robot Motion
Northwestern University
-
Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots
Northwestern University
-
Modern Robotics: Mechanics, Planning, and Control
Northwestern University
-
Modern Robotics, Course 3: Robot Dynamics
Northwestern University
-
Robotics and Control : Theory and Practice
Indian Institute of Technology Roorkee, NPTEL
-
Robotics: Computational Motion Planning
University of Pennsylvania
4.3
Reviews
0.0 rating, based on 0 reviews