Northwestern University - Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
- Offered byCoursera
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation at Coursera Overview
Duration | 21 hours |
Start from | Start Now |
Total fee | Free |
Mode of learning | Online |
Difficulty level | Intermediate |
Official Website | Explore Free Course  |
Credential | Certificate |
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation at Coursera Highlights
- This Course Plus the Full Specialization.
- Shareable Certificates.
- Graded Programming Assignments.
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation at Coursera Course details
- 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.
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation at Coursera Curriculum
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
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation at Coursera Admission Process
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