Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots from Coursera

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 5 of the specialization, Robot Motion Planning and Wheeled Mobile Robots, we delve into advanced topics in robotics. Chapter 12, Grasping and Manipulation, of the "Modern Robotics" textbook covers the modeling of kinematics and forces between rigid bodies in contact, and applies the modeling to analysis and planning of robot grasping and other manipulation tasks. Chapter 13, Wheeled Mobile Robots, covers modeling, motion planning, and feedback control of omnidirectional and nonholonomic wheeled mobile robots, and concludes by addressing control of mobile manipulators consisting of a wheeled mobile base and a robot arm.

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.

What's inside

Syllabus

Chapter 12: Grasping and Manipulation (Part 1 of 2)

Kinematics of contact, contact types (rolling, sliding, and breaking), graphical methods for representing kinematic constraints in the plane, and form-closure grasping (complete kinematic constraint).

Chapter 12: Grasping and Manipulation (Part 2 of 2)

Coulomb friction, friction cones, graphical methods for representing forces and torques in the plane, force closure grasping, and examples of manipulation other than grasping.

Chapter 13: Wheeled Mobile Robots (Part 1 of 2)

Kinematic models of omnidirectional and nonholonomic wheeled mobile robots.

Chapter 13: Wheeled Mobile Robots (Part 2 of 2)

Controllability, motion planning, and feedback control of nonholonomic wheeled mobile robots; odometry for wheeled mobile robots; and mobile manipulation.

Good to know

Know what's good

, what to watch for

, and possible dealbreakers

Utilizes the popular programming languages Python, Mathematica, or MATLAB

Emphasizes the important topic of robot grasping and manipulation, which is crucial in many robotics applications

Provides comprehensive coverage of wheeled mobile robots, including their modeling, motion planning, and control

Taught by acclaimed instructor Kevin Lynch, who is known for his expertise in robotics

Examines advanced concepts in robotics, making it suitable for students with a strong foundation in the field

Reviews summary

Challenging robotics

Learners say this course is engaging but challenging robotics course with excellent videos and a difficult exam where almost all concepts from the book are combined.

Engaging videos

"Despite the very good videos and excellent book"

Difficult exam

"This course may be very hard for first time learner."

"I still had my difficulties with the force closure assignment and the last exam, where almost all concepts from the book are combined to be applied."

"quizes and projects which is nowhere explained, you are hit with the assignments and you have little space to be wrong."

Difficult course

"This one was the hardest of all in this specialization."

"This course may be very hard for first time learner."

"I still had my difficulties with the force closure assignment and the last exam, where almost all concepts from the book are combined to be applied."

Activities

Be better prepared before your course. Deepen your understanding during and after it. Supplement your coursework and achieve mastery of the topics covered in Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots with these activities:

Review basic linear algebra and calculus

Show steps

This course requires a strong foundation in linear algebra and calculus. Take some time to review these concepts.

Browse courses on Linear Algebra

Show steps

Review your notes from previous linear algebra and calculus courses.
Work through some practice problems.
Take a practice test to assess your understanding.

Read textbook for background

Show steps

Familiarize yourself with material that will be covered in this course by reading the textbook in advance.

View Modern Robotics on Amazon

Show steps

Acquire a copy of the textbook.
Review the table of contents and skim chapters 1-13.
Take note of any unfamiliar concepts or topics.

Read 'Modern Robotics: Mechanics, Planning, and Control'

Show steps

Establish a solid foundation by studying the foundational concepts in robotics using the textbook. Concepts include mechanics, planning, and control systems for robotics.

View Modern Robotics on Amazon

Show steps

Acquire the textbook and review introduction and chapters 1-3 prior to the start of the course.
During the course, read a chapter ahead and review material covered in the course. Complete example problems.

Eight other activities

Expand to see all activities and additional details

Show all 11 activities

Follow tutorials on robot kinematics and dynamics

Show steps

This course will cover advanced topics in robot kinematics and dynamics. By following tutorials on these topics, you can get a head start on the material.

Browse courses on Robot Kinematics

Show steps

Find some tutorials on robot kinematics and dynamics.
Watch the tutorials and take notes.
Try to implement some of the concepts you learn in the tutorials.

Form a study group with other students

Show steps

Working in a group to study, share notes, explore concepts and solve problems can give you new insights and a deeper understanding of robotics.

Browse courses on Robotics

Show steps

Find other students in the course who are interested in forming a study group.
Decide on a time and place to meet.
Set some goals for your study group.

Form a study group with other students

Show steps

Enhance your learning through collaboration with peers by forming a study group dedicated to robotics and course material. Enhance understanding of the subject matter and improve problem-solving skills.

Browse courses on Robotics

Show steps

Identify a group of classmates with similar interests and goals.
Establish a regular meeting schedule and location.
Review course materials, work on assignments, and discuss concepts together.
Quiz each other and provide feedback.

Solve practice problems on robot motion planning

Show steps

Practicing with robot motion planning problems will help you develop your problem-solving skills and reinforce the concepts you learn in class.

Browse courses on Robot Motion Planning

Show steps

Find some practice problems on robot motion planning.
Solve the problems using the techniques you learn in class.
Check your answers against the solutions.

Solve robotic motion problems

Show steps

Develop a strong problem-solving capability by working on hands-on examples. This will help you apply the theories taught in class to practical situations.

Browse courses on Robot Motion Planning

Show steps

Review class notes and textbook examples on robot motion planning and wheeled mobile robots.
Use the V-REP robot simulator to test your solutions.
Work on practice problems assigned by the instructor.

Build a simple robot using V-REP

Show steps

This course includes a hands-on component where you will build and simulate robots using V-REP. Start by building a simple robot to get familiar with the software.

Show steps

Download and install V-REP.
Create a new scene in V-REP.
Add a simple robot to the scene.
Simulate the robot's motion.

Create a presentation on a specific topic in robotics

Show steps

Enhance your understanding of the concepts by explaining them to others. Focus on a specific topic from the course and present it in a clear and engaging way. Use the V-REP simulator to showcase your project.

Show steps

Choose a topic from Chapter 12 or Chapter 13 of the textbook.
Research the topic and gather information.
Create a presentation using slides or a video.
Present your findings to the class.

Contribute to open-source robotics projects

Show steps

This course provides an opportunity to work on real-world robotics problems by contributing to open-source projects.

Browse courses on Open Source

Show steps

Find an open-source robotics project that you are interested in.
Read the project documentation and contribute in areas you can help.
Submit a pull request with your contributions.

Career center

Learners who complete Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots will develop knowledge and skills that may be useful to these careers:

Robotics Technician

Robotics Technicians install, maintain, and repair robots. They may work with a variety of robots, such as industrial robots, medical robots, and military robots. This course may be useful as it covers the modeling, kinematics, and control of wheeled mobile robots, which is a type of robot that is commonly used in a variety of applications.

See salaries and explore the career path for Robotics Technician

Computer Scientist

Computer Scientists design and develop computer software and systems. They may work with a variety of programming languages and tools, and they may specialize in a particular area of computer science, such as robotics or artificial intelligence. This course may be useful as it covers the modeling, motion planning, and control of nonholonomic wheeled mobile robots, which is a type of robot that requires specialized computer science techniques.

See salaries and explore the career path for Computer Scientist

Robotics Engineer

Robotics Engineers design, build, and test robots. Engineers working in this field may develop and improve mechanisms, sensors, software, and other components used to control robots' movement, perception, and decision-making. They may work with robots used for a variety of purposes, such as manufacturing, healthcare, and space exploration. This course may be useful as it covers the modeling, motion planning, and feedback control of nonholonomic wheeled mobile robots, which is a type of robot commonly used in industrial settings.

See salaries and explore the career path for Robotics Engineer

Robotics Software Engineer

Robotics Software Engineers develop software that controls the behavior of robots. They may work with a variety of software languages and tools, and they may specialize in a particular area of robotics, such as motion planning or computer vision. This course may be useful as it covers the modeling and kinematics of wheeled mobile robots, which is a type of robot that is commonly used in industrial and consumer applications.

See salaries and explore the career path for Robotics Software Engineer

Control Systems Engineer

Control Systems Engineers design and implement systems that control the behavior of machines and other devices. They may work with a variety of systems, such as robots, aircraft, and manufacturing equipment. This course may be useful as it covers the modeling and control of nonholonomic wheeled mobile robots, which is a type of system that requires specialized control techniques.

See salaries and explore the career path for Control Systems Engineer

Electrical Engineer

Electrical Engineers design and build electrical systems. They may work with a variety of electrical components and devices, and they may specialize in a particular area of electrical engineering, such as robotics or power systems. This course may be useful as it covers the modeling and control of nonholonomic wheeled mobile robots, which is a type of robot that requires specialized electrical systems.

See salaries and explore the career path for Electrical Engineer

Industrial Engineer

Industrial Engineers design and improve production systems. They may work with a variety of systems, such as manufacturing, transportation, and healthcare. This course may be useful as it covers the modeling and control of nonholonomic wheeled mobile robots, which is a type of system that is commonly used in industrial settings.

See salaries and explore the career path for Industrial Engineer

Manufacturing Engineer

Manufacturing Engineers design and build manufacturing systems. They may work with a variety of materials and components, and they may specialize in a particular area of manufacturing engineering, such as robotics or automation. This course may be useful as it covers the modeling and kinematics of wheeled mobile robots, which is a type of robot that is commonly used in manufacturing settings.

See salaries and explore the career path for Manufacturing Engineer

Systems Engineer

Systems Engineers design and integrate complex systems. They may work with a variety of systems, such as robots, aircraft, and manufacturing equipment. This course may be useful as it covers the modeling and control of nonholonomic wheeled mobile robots, which is a type of system that requires specialized systems engineering techniques.

See salaries and explore the career path for Systems Engineer

Automotive Engineer

Automotive Engineers design and build automobiles. They may work with a variety of materials and components, and they may specialize in a particular area of automotive engineering, such as robotics or powertrain development. This course may be useful as it covers the modeling and kinematics of wheeled mobile robots, which is a type of robot that is commonly used in automotive applications.

See salaries and explore the career path for Automotive Engineer

Mechanical Engineer

Mechanical Engineers design and build machines and other devices. They may work with a variety of materials and components, and they may specialize in a particular area of mechanical engineering, such as robotics or manufacturing. This course may be useful as it covers the modeling and kinematics of wheeled mobile robots, which is a type of machine that requires specialized mechanical design.

See salaries and explore the career path for Mechanical Engineer

Biomedical Engineer

Biomedical Engineers design and build medical devices and systems. They may work with a variety of materials and components, and they may specialize in a particular area of biomedical engineering, such as robotics or prosthetics. This course may be useful as it covers the modeling and control of nonholonomic wheeled mobile robots, which is a type of system that is commonly used in biomedical applications.

See salaries and explore the career path for Biomedical Engineer

Aerospace Engineer

Aerospace Engineers design and build aircraft, spacecraft, and other aerospace systems. They may work with a variety of materials and components, and they may specialize in a particular area of aerospace engineering, such as robotics or propulsion. This course may be useful as it covers the modeling and control of nonholonomic wheeled mobile robots, which is a type of system that is commonly used in aerospace applications.

See salaries and explore the career path for Aerospace Engineer

Operations Research Analyst

Operations Research Analysts use mathematical and analytical techniques to improve the efficiency of systems. They may work with a variety of systems, such as manufacturing, transportation, and healthcare. This course may be useful as it covers the modeling and optimization of wheeled mobile robots, which is a type of system that can be improved using operations research techniques.

See salaries and explore the career path for Operations Research Analyst

Data Scientist

Data Scientists collect, analyze, and interpret data. They may work with a variety of data sources and tools, and they may specialize in a particular area of data science, such as machine learning or statistics. This course may be useful as it covers the modeling and kinematics of wheeled mobile robots, which is a type of robot that generates a large amount of data that can be used for analysis and decision-making.

See salaries and explore the career path for Data Scientist