Modern Robotics, Course 4: Robot Motion Planning and Control 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 4 of the specialization, Robot Motion Planning and Control, you will learn key concepts of robot motion generation: planning a motion for a robot in the presence of obstacles, and real-time feedback control to track the planned motion. Chapter 10, Motion Planning, of the "Modern Robotics" textbook covers foundational material like C-space obstacles, graphs and trees, and graph search, as well as classical and modern motion planning techniques, such as grid-based motion planning, randomized sampling-based planners, and virtual potential fields. Chapter 11, Robot Control, covers motion control, force control, and hybrid motion-force control.

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 10: Motion Planning (Part 1 of 2)

C-space obstacles, graphs and trees, and A* graph search.

Chapter 10: Motion Planning (Part 2 of 2)

Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization.

Chapter 11: Robot Control (Part 1 of 2)

First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities.

Chapter 11: Robot Control (Part 2 of 2)

Motion control of robots when the output of the controller commands joint torques, force control, and hybrid motion-force control.

Good to know

Know what's good

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Taught by Kevin Lynch, who are recognized for their work in robotics

Explores fundamental mathematical modeling techniques used in all subfields of robotics

Develops theoretical and practical skills in robot motion planning and control

Builds a strong foundation for serious students who hope to work in the field of robotics or to undertake advanced study

Offers hands-on experience through a library of robotics software and the free cross-platform robot simulator V-REP

May require extensive background knowledge or prerequisites in robotics or related fields

Reviews summary

Robotics course with engaging assignments

Learners say that this course is highly enjoyable and challenging, with engaging programming assignments, and very good video lectures. The programming assignments are said to be challenging, so it is recommended to not give up on them. The course is said to be good for learners who want a surface-level understanding of robot motion planning and control.

The course provides a surface-level understanding of robot motion planning and control.

"The course is touching the topics on the surface without going to deep and that is exactly what I needed."

"Book chapters, which are required for reading, are pretty complex and the lectures are very helpful to understand the material."

The video lectures are helpful in understanding the material.

"First course from this specialization that deserves 5 stars."

"The instructor's peaking is very clear and concise for the very completed concept and equation."

"First two weeks are focused on motion planning and last two weeks on control."

The programming assignments are engaging and challenging.

"Programming assignments are MASSSIVE. Just don't give up !"

"I loved the course. I think Programming assignments are really challenging."

"Highly Enjoyable. This course has augmented my intrigue in robotics. The programming assignments are interesting and the video lectures are very good."

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 4: Robot Motion Planning and Control with these activities:

Participate in Peer Study Groups

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Participating in peer study groups will allow you to engage with fellow students, discuss course material, and reinforce your understanding of the concepts.

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Form or join a study group with classmates.
Meet regularly to discuss the course material.
Work together on practice problems and exercises.
Provide each other with feedback and support.

Attend Robotics Meetups and Conferences

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Attending robotics meetups and conferences will allow you to network with other students, researchers, and professionals in the field of robotics.

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Find robotics meetups and conferences in your area.
Attend the events and introduce yourself to other attendees.
Share your knowledge and experiences with others.
Learn about new trends and developments in robotics.

Follow Tutorials on Robot Simulation

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Following tutorials on robot simulation will help you familiarize yourself with the tools and techniques used in robotics research and development.

Browse courses on Robot Simulation

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Find tutorials for robot simulation software such as V-REP, Gazebo, or ROS.
Follow the tutorials to learn how to create and simulate robot models.
Experiment with different robot models and scenarios.
Share your simulations with others and get feedback.

Five other activities

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Review Modern Robotics Textbook

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Reviewing the Modern Robotics textbook will help you reinforce your understanding of the concepts and techniques covered in the course.

View Modern Robotics on Amazon

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Read the textbook chapters assigned for each course module.
Take notes and highlight important concepts.
Work through the practice problems and exercises at the end of each chapter.
Discuss the textbook material with classmates or the instructor.

Practice Motion Planning Algorithms

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Practicing motion planning algorithms will help reinforce your understanding of the concepts and techniques covered in Chapter 10 of the textbook.

Browse courses on Motion Planning

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Implement a grid-based motion planner in your preferred programming language.
Experiment with different parameters and obstacles to observe how they affect the planner's performance.
Implement a randomized sampling-based motion planner, such as RRT or RRT*.
Compare the performance of the grid-based and sampling-based planners on different scenarios.

Build a Simple Robot Arm

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Building a simple robot arm will provide you with hands-on experience in robot design, construction, and control.

Browse courses on Robotics

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Gather the necessary materials and components.
Design and assemble the robot arm's structure.
Connect the motors and sensors to the robot arm.
Write a program to control the robot arm's movement.
Test and evaluate the performance of the robot arm.

Create a Tutorial on Robot Motion Control

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Creating a tutorial on robot motion control will help you solidify your understanding of the concepts and techniques covered in Chapter 11 of the textbook.

Browse courses on Robot Control

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Choose a specific aspect of robot motion control that you want to focus on, such as PID control, state-space control, or nonlinear control.
Research the topic thoroughly and gather relevant information.
Write a clear and concise tutorial that explains the concepts and techniques in a logical and easy-to-understand manner.
Include examples and diagrams to illustrate the concepts.
Share your tutorial with others and get feedback.

Develop a Motion Planner for a Real-World Robot

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Developing a motion planner for a real-world robot will challenge you to apply the concepts and techniques covered in the course to a practical problem.

Browse courses on Motion Planning

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Define the problem statement and identify the requirements for the motion planner.
Research and select appropriate motion planning algorithms.
Implement the motion planner in a programming language and integrate it with the robot's control system.
Test and evaluate the performance of the motion planner in a real-world environment.
Document your work and share your results with others.

Career center

Learners who complete Modern Robotics, Course 4: Robot Motion Planning and Control will develop knowledge and skills that may be useful to these careers:

Robotics Engineer

Robotics Engineers design, build, program, and maintain robots, focusing on areas such as movement, object recognition, and AI. To succeed as a Robotics Engineer, you'll use your knowledge to solve complex problems in robotics and mechatronics. This course covers robotics motion planning and control, which are essential skills for any Robotics Engineer.

See salaries and explore the career path for Robotics Engineer

Motion Control Engineer

Motion Control Engineers design and implement control systems for a variety of applications, including robotics, manufacturing, and aerospace. This course provides a strong foundation in robot motion planning and control, which are essential skills for any Motion Control Engineer.

See salaries and explore the career path for Motion Control Engineer

Robotics Software Engineer

Robotics Software Engineers develop, test, and maintain software systems that control robots. This course may be useful to you as you develop methods for robots to perform a wide range of actions, such as motion planning and control.

See salaries and explore the career path for Robotics Software Engineer

Control Systems Engineer

Control Systems Engineers design and implement control systems for a wide range of applications, including robotics, manufacturing, and aerospace. This course may be useful to you as you develop and implement control algorithms for robotics.

See salaries and explore the career path for Control Systems Engineer

Mechatronics Engineer

Mechatronics Engineers design and build systems that combine mechanical, electrical, and computer engineering. This course may be useful to you as you design and build robots, as it covers motion planning and control.

See salaries and explore the career path for Mechatronics Engineer

Robotics Technician

Robotics Technicians install, maintain, and repair robots and other automated systems. This course may be useful to you as you work with robots, as it covers motion planning and control.

See salaries and explore the career path for Robotics Technician

Manufacturing Engineer

Manufacturing Engineers design and implement manufacturing processes. This course may be useful to you as you develop and implement robotic systems for manufacturing.

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Automotive Engineer

Automotive Engineers design, develop, and test automobiles and their components. This course may be useful to you as you develop self-driving cars, as it covers motion planning and control.

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Aerospace Engineer

Aerospace Engineers design, develop, and test aircraft, spacecraft, and other aerospace vehicles. This course may be useful to you as you develop and implement robotic systems for aerospace applications.

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Industrial Engineer

Industrial Engineers design and implement systems for improving productivity in industrial settings. This course may be useful to you as you develop and implement robotic systems for industrial applications.

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Biomedical Engineer

Biomedical Engineers design and develop medical devices and systems. This course may be useful to you as you develop and implement robotic systems for medical applications.

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Electrical Engineer

Electrical Engineers design and develop electrical systems. This course may be useful to you as you develop and implement electrical systems for robots.

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Mechanical Engineer

Mechanical Engineers design and develop mechanical systems. This course may be useful to you as you develop and implement mechanical systems for robots.

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Systems Engineer

Systems Engineers design and implement systems that consist of multiple components. This course may be useful to you as you develop and implement robotic systems that consist of multiple components.

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Computer Engineer

Computer Engineers design and develop computer systems. This course may be useful to you as you develop and implement computer systems for robots.

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