About this Course

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Intermediate Level
Approx. 21 hours to complete
English
Subtitles: English
Shareable Certificate
Earn a Certificate upon completion
100% online
Start instantly and learn at your own schedule.
Flexible deadlines
Reset deadlines in accordance to your schedule.
Intermediate Level
Approx. 21 hours to complete
English
Subtitles: English

Instructor

Offered by

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Northwestern University

Syllabus - What you will learn from this course

Week
1

Week 1

7 hours to complete

Chapter 10: Motion Planning (Part 1 of 2)

7 hours to complete
5 videos (Total 24 min), 3 readings, 7 quizzes
5 videos
C-Space Obstacles (Chapter 10.2.1)4m
Graphs and Trees (Chapter 10.2.3)2m
Graph Search (Chapter 10.2.4)9m
Complete Path Planners (Chapter 10.3)3m
3 readings
Welcome to Course 4, Robot Motion Planning and Control10m
How to Make This Course Successful5m
Chapter 10 through 10.31h 30m
6 practice exercises
Lecture Comprehension, Overview of Motion Planning (Chapter 10.1)4m
Lecture Comprehension, C-Space Obstacles (Chapter 10.2.1)2m
Lecture Comprehension, Graphs and Trees (Chapter 10.2.3)2m
Lecture Comprehension, Graph Search (Chapter 10.2.4)6m
Lecture Comprehension, Complete Path Planners (Chapter 10.3)2m
Chapter 10 through 10.3, Motion Planning15m
Week
2

Week 2

7 hours to complete

Chapter 10: Motion Planning (Part 2 of 2)

7 hours to complete
5 videos (Total 25 min), 1 reading, 7 quizzes
5 videos
Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)3m
Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)7m
Virtual Potential Fields (Chapter 10.6)5m
Nonlinear Optimization (Chapter 10.7)5m
1 reading
Chapter 10.4 through 10.72h
6 practice exercises
Lecture Comprehension, Grid Methods for Motion Planning (Chapter 10.4)6m
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)2m
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)4m
Lecture Comprehension, Virtual Potential Fields (Chapter 10.6)4m
Lecture Comprehension, Nonlinear Optimization (Chapter 10.7)4m
Chapter 10.4 through 10.7, Motion Planning8m
Week
3

Week 3

4 hours to complete

Chapter 11: Robot Control (Part 1 of 2)

4 hours to complete
8 videos (Total 33 min), 1 reading, 9 quizzes
8 videos
Error Response (Chapter 11.2.1)2m
Linear Error Dynamics (Chapter 11.2.2)4m
First-Order Error Dynamics (Chapter 11.2.2.1)1m
Second-Order Error Dynamics (Chapter 11.2.2.2)5m
Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)4m
Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)6m
Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4m
1 reading
Chapter 11 through 11.32h
9 practice exercises
Lecture Comprehension, Control System Overview (Chapter 11.1)4m
Lecture Comprehension, Error Response (Chapter 11.2.1)2m
Lecture Comprehension, Linear Error Dynamics (Chapter 11.2.2)4m
Lecture Comprehension, First-Order Error Dynamics (Chapter 11.2.2.1)6m
Lecture Comprehension, Second-Order Error Dynamics (Chapter 11.2.2.2)4m
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)6m
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)2m
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)8m
Chapter 11 through 11.3, Robot Control1h
Week
4

Week 4

3 hours to complete

Chapter 11: Robot Control (Part 2 of 2)

3 hours to complete
5 videos (Total 25 min), 1 reading, 6 quizzes
5 videos
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)5m
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)7m
Force Control (Chapter 11.5)2m
Hybrid Motion-Force Control (Chapter 11.6)5m
1 reading
Chapter 11.4 through 11.62h
6 practice exercises
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)2m
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)6m
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)4m
Lecture Comprehension, Force Control (Chapter 11.5)2m
Lecture Comprehension, Hybrid Motion-Force Control (Chapter 11.6)2m
Chapter 11.4 through 11.6, Robot Control30m

Reviews

TOP REVIEWS FROM MODERN ROBOTICS, COURSE 4: ROBOT MOTION PLANNING AND CONTROL

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About the Modern Robotics: Mechanics, Planning, and Control Specialization

This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students' understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself....
Modern Robotics:  Mechanics, Planning, and Control

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