Modern Robotics

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About Course

Modern Robotics. Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

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 1 of the specialization, Foundations of Robot Motion, you will learn fundamental material regarding robot configurations, for both serial robot mechanisms and robots with closed chains. You will learn about configuration space (C-space), degrees of freedom, C-space topology, implicit and explicit representations of configurations, and holonomic and nonholonomic constraints. You will also learn how to represent spatial velocities and forces as twists and wrenches. This material is at the core of the study of anything that moves (e.g., robots).

This course follows the textbook “Modern Robotics: Mechanics, Planning, and Control”.  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.

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What Will You Learn?

  • learn the fundamental mathematical modeling techniques that are used in all subfields of robotics and everything about robotics from A to Z

Course Content

Modern Robotics

  • Modern Robotics: Introduction to the Lightboard
    01:32
  • Modern Robotics, Chapters 2 and 3: Foundations of Robot Motion
    02:11
  • Modern Robotics, Chapter 2.1: Degrees of Freedom of a Rigid Body
    05:15
  • Modern Robotics, Chapter 2.2: Degrees of Freedom of a Robot
    05:43
  • Modern Robotics, Chapter 2.3.1: Configuration Space Topology
    04:37
  • Modern Robotics, Chapter 2.3.2: Configuration Space Representation
    00:00
  • Modern Robotics, Chapter 2.4: Configuration and Velocity Constraints
    00:00
  • Modern Robotics, Chapter 2.5: Task Space and Workspace
    00:00
  • Modern Robotics, Chapter 3: Introduction to Rigid-Body Motions
    00:00
  • Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 1 of 2)
    02:53
  • Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 3.2.2: Angular Velocities
    00:00
  • Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 3.3.1: Homogeneous Transformation Matrices
    00:00
  • Modern Robotics, Chapter 3.3.2: Twists (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 3.3.2: Twists (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion
    00:00
  • Modern Robotics, Chapter 3.4: Wrenches
    00:00
  • Modern Robotics, Chapter 4.1.1: Product of Exponentials Formula in the Space Frame
    00:00
  • Modern Robotics, Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame
    00:00
  • Modern Robotics, Chapter 4: Forward Kinematics Example
    00:00
  • Modern Robotics, Chapter 5: Velocity Kinematics and Statics
    00:00
  • Modern Robotics, Chapter 5.1.1: Space Jacobian
    00:00
  • Modern Robotics, Chapter 5.1.2: Body Jacobian
    00:00
  • Modern Robotics, Chapter 5.2: Statics of Open Chains
    00:00
  • Modern Robotics, Chapter 5.3: Singularities
    00:00
  • Modern Robotics, Chapter 5.4: Manipulability
    00:00
  • Modern Robotics, Chapter 6: Inverse Kinematics of Open Chains
    00:00
  • Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 7: Kinematics of Closed Chains
    08:34
  • Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 8.1.3: Understanding the Mass Matrix
    00:00
  • Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 8.3: Newton-Euler Inverse Dynamics
    00:00
  • Modern Robotics, Chapter 8.5: Forward Dynamics of Open Chains
    00:00
  • Modern Robotics, Chapter 8.6: Dynamics in the Task Space
    00:00
  • Modern Robotics, Chapter 8.7: Constrained Dynamics
    00:00
  • Modern Robotics, Chapter 8.9: Actuation, Gearing, and Friction
    00:00
  • Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 1 of 2)
    00:00
  • Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 9.3: Polynomial Via Point Trajectories
    00:00
  • Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 1 of 3)
    00:00
  • Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 2 of 3)
    00:00
  • Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 3 of 3)
    00:00
  • Modern Robotics, Chapter 10.1: Overview of Motion Planning
    00:00
  • Modern Robotics, Chapter 10.2: C-Space Obstacles
    00:00
  • Modern Robotics, Chapter 10.2.3: Graphs and Trees
    00:00
  • Modern Robotics, Chapter 10.2.4: Graph Search
    00:00
  • Modern Robotics, Chapter 10.3: Complete Path Planners
    00:00
  • Modern Robotics, Chapter 10.4: Grid Methods for Motion Planning
    00:00
  • Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 10.6: Virtual Potential Fields
    00:00
  • Modern Robotics, Chapter 10.7: Nonlinear Optimization
    00:00
  • Modern Robotics, Chapter 11.1: Control System Overview
    00:00
  • Modern Robotics, Chapter 11.2.1: Error Response
    00:00
  • Modern Robotics, Chapter 11.2.2: Linear Error Dynamics
    00:00
  • Modern Robotics, Chapter 11.2.2.1: First-Order Error Dynamics
    00:00
  • Modern Robotics, Chapter 11.2.2.2: Second-Order Error Dynamics
    00:00
  • Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 1 of 3)
    00:00
  • Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 2 of 3)
    00:00
  • Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3)
    00:00
  • Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 1 of 3)
    00:00
  • Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 2 of 3)
    00:00
  • Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3)
    00:00
  • Modern Robotics, Chapter 11.5: Force Control
    00:00
  • Modern Robotics, Chapter 11.6: Hybrid Motion-Force Control
    00:00
  • Modern Robotics, Chapter 12: Grasping and Manipulation
    00:00
  • Modern Robotics, Chapter 12.1.1: First-Order Analysis of a Single Contact
    00:00
  • Modern Robotics, Chapter 12.1.2: Contact Types: Rolling, Sliding, and Breaking
    00:00
  • Modern Robotics, Chapter 12.1.3: Multiple Contacts
    00:00
  • Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 12.1.7: Form Closure
    00:00
  • Modern Robotics, Chapter 12.2.1: Friction
    00:00
  • Modern Robotics, Chapter 12.2.2: Planar Graphical Methods
    00:00
  • Modern Robotics, Chapter 12.2.3: Force Closure
    00:00
  • Modern Robotics, Chapter 12.2.4: Duality of Force and Motion Freedoms
    00:00
  • Modern Robotics, Chapter 12.3: Manipulation and the Meter-Stick Trick
    00:00
  • Modern Robotics, Chapter 12.3: Transport of an Assembly
    00:00
  • Modern Robotics, Chapter 13.1: Wheeled Mobile Robots
    00:00
  • Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
    00:00
  • Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2)
    00:00
  • Modern Robotics, Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots
    00:00
  • Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4)
    00:00
  • Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 2 of 4)
    00:00
  • Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 3 of 4)
    00:00
  • Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 4 of 4)
    00:00
  • Modern Robotics, Chapter 13.3.3: Motion Planning for Nonholonomic Mobile Robots
    00:00
  • Modern Robotics, Chapter 13.3.4: Feedback Control for Nonholonomic Mobile Robots
    00:00
  • Modern Robotics, Chapter 13.4: Odometry
    00:00
  • Modern Robotics, Chapter 13.5: Mobile Manipulation
    00:00

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