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Basic Robotic Behaviors and Odometry

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Basic Robotic Behaviors and Odometry

Ce cours fait partie de Spécialisation "Introduction to Robotics with Webots"

Instructeur : Nikolaus Correll

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5 modules

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niveau Intermédiaire

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3 semaines à 10 heures une semaine

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5 modules

Obtenez un aperçu d'un sujet et apprenez les principes fondamentaux.

62 avis

niveau Intermédiaire

Expérience recommandée

Planning flexible

3 semaines à 10 heures une semaine

Apprenez à votre propre rythme

Préparer un diplôme

Ce que vous apprendrez

Model mechanisms, sensors and actuators in a physics-based online simulator.
Understand basic reactive and discrete controllers.
Perform forward kinematics computations for simple (non-)Holonomic mechanisms.

Compétences que vous acquerrez

Catégorie : Control Systems
Catégorie : Algorithms
Catégorie : Simulation and Simulation Software
Catégorie : Automation
Catégorie : Linear Algebra
Catégorie : Robotics
Catégorie : Simulations
Catégorie : Virtual Environment

Outils que vous découvrirez

Catégorie : Python Programming

Détails à connaître

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13 devoirs

Enseigné en Anglais

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Ce cours fait partie de la Spécialisation "Introduction to Robotics with Webots"

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Il y a 5 modules dans ce cours

"Basic Robotic Behaviors and Odometry" provides you with an introduction to autonomous mobile robots, including forward kinematics (“odometry”), basic sensors and actuators, and simple reactive behavior. This course is centered around exercises in the realistic, physics-based simulator, “Webots”, where you will experiment in a hands-on manner with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems. An overarching objective of this course is to understand the role of the physical system on algorithm design and its role as source of uncertainty that makes robots non-deterministic. If you are interested in getting started with robotics, this course is for you!

This course can be taken for academic credit as part of CU Boulder’s MS in Computer Science degrees offered on the Coursera platform. These fully accredited graduate degrees offer targeted courses, short 8-week sessions, and pay-as-you-go tuition. Admission is based on performance in three preliminary courses, not academic history. CU degrees on Coursera are ideal for recent graduates or working professionals. Learn more: MS in Computer Science: https://coursera.org/degrees/ms-computer-science-boulder

Détails du module

Welcome to Basic Robotic Behaviors and Odometry. This week introduces the course and gives you an opportunity to introduce yourself. You will prepare for the rest of the course by learning about the main operation tool we will use throughout, the realistic robotics simulator "Webots". You will become familiar with Webots, its hosting website, and will begin to develop your foundation in navigating the simulator.

Inclus

9 vidéos10 lectures3 devoirs1 sujet de discussion1 plugin

9 vidéosTotal 62 minutes

Introduction to the Specialization2 minutes
Meet the Instructor2 minutes
Introduction to "Basic Robotic Behaviors and Odometry"1 minute
Video Lecture Week 1: Introduction33 minutes
What is a Robot?4 minutes
Building a World in Webots11 minutes
Webots - Collisions and Physics4 minutes
What Are Radians?2 minutes
More About Cyberbotics4 minutes

10 lecturesTotal 256 minutes

Course Updates and Accessibility Support1 minute
Earn Academic Credit for your Work!10 minutes
Course Support10 minutes
Assessment Expectations10 minutes
AI Citation and Acknowledgement10 minutes
Course Activities5 minutes
What is a Robot? 10 minutes
The First Industrial Robot10 minutes
On the Road to Autonomous Cars10 minutes
Webots Tutorials 1-3180 minutes

3 devoirsTotal 45 minutes

AI Policy Quiz5 minutes
What is a Robot? 10 minutes
Hands-on: Controlling Motors Using Position or Velocity Control30 minutes

1 sujet de discussionTotal 10 minutes

Introduce Yourself!10 minutes

1 pluginTotal 45 minutes

Webots User Guide 45 minutes

This week introduces the devices that allow robots to move and effectuate changes in their environment ("actuators"), as well as perceive their world ("sensors").

Inclus

5 vidéos9 lectures4 devoirs

5 vidéosTotal 77 minutes

Video Lecture Week 2: Sensors and Actuators47 minutes
Basic Actuators (Theory)6 minutes
Basic Actuators (Practice)12 minutes
Basic Sensors - Distance Sensors10 minutes
Basic Sensors - Light Sensors2 minutes

9 lecturesTotal 180 minutes

Actuators: Electric20 minutes
Other Types of Actuators10 minutes
Sensors15 minutes
Sensors That Measure: Joint Configuration10 minutes
Sensors That Measure: Ego-Motion10 minutes
Sensors That Measure: Force10 minutes
Sensors That Measure: Distance10 minutes
Global Positioning Systems10 minutes
Webots Tutorial 4-685 minutes

4 devoirsTotal 93 minutes

Sensors18 minutes
Hands-on: Exploring Light Sensors30 minutes
From Webots to Real Robotics30 minutes
Actuators15 minutes

In this week, you will experiment with basic reactive robotic behaviors and understand the challenges of task execution.

Inclus

5 vidéos1 lecture1 devoir1 évaluation par les pairs

5 vidéosTotal 45 minutes

Video Lecture Week 3: Reactive Behaviors and State Machines20 minutes
Reactive Behavior - Collision Avoidance7 minutes
Reactive Behaviors - Compound Behaviors5 minutes
Finite State Machines6 minutes
Introduction to Peer Review "Basic Reactive Behaviors"8 minutes

1 lectureTotal 20 minutes

Task Execution20 minutes

1 devoirTotal 30 minutes

Task Execution 30 minutes

1 évaluation par les pairsTotal 180 minutes

Basic Reactive Behaviors180 minutes

This week you will learn how to formally describe the global pose of a robot and how different actuators can affect this pose.

Inclus

7 vidéos1 lecture3 devoirs

7 vidéosTotal 70 minutes

Video Lecture Week 4: Coordinate Systems, Degrees of Freedom, and Forward Kinematics24 minutes
Coordinate Systems and the Right Hand Rule(s)10 minutes
Degrees of Freedom12 minutes
Kinematics of Standard Wheels7 minutes
Rotation Matrices4 minutes
Setting Up the Line Following Course7 minutes
Hands-On Simple Odometry Overview6 minutes

1 lectureTotal 20 minutes

Coordinate Systems and Degrees of Freedom 20 minutes

3 devoirsTotal 240 minutes

Coordinate Systems and Degrees of Freedom 30 minutes
Hands-on: Simple Odometry180 minutes
Improving Odometry30 minutes

In this week, you will learn how to keep track of actuation commands and hence estimate the pose of your robot. You will use information from the environment to improve pose estimation and understand the concept of "holonomy".

Inclus

4 vidéos2 devoirs1 évaluation par les pairs

4 vidéosTotal 49 minutes

Video Lecture Week 5: Coordinate Transforms and Odometry25 minutes
Coordinate Transforms14 minutes
Localization by Odometry and Loop Closure Overview6 minutes
Non-Holonomic Vehicle Example5 minutes

2 devoirsTotal 35 minutes

Holonomy20 minutes
Loop Closure15 minutes

1 évaluation par les pairsTotal 240 minutes

Robot Localization by Odometry and Loop Closure Overview240 minutes

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Ce site cours fait partie du (des) programme(s) diplômant(s) suivant(s) proposé(s) par University of Colorado Boulder. Si vous êtes admis et que vous vous inscrivez, les cours que vous avez suivis peuvent compter pour l'apprentissage de votre diplôme et vos progrès peuvent être transférés avec vous.¹