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Basic Robotic Behaviors and Odometry
Nikolaus Correll
Nikolaus Correll
"Basic Robotic Behaviors and Odometry" provides you with an introduction to autonomous mobile robots, including forward kinematics (“odometry”), basic sensors and actuators, and simple reactive behavior. This course is centered around exercises in the realistic, physics-based simulator, “Webots”, where you will experiment in a hands-on manner with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems. An overarching objective of this course is to understand the role of the physical system on algorithm design and its role as source of uncertainty that makes robots non-deterministic. If you are interested in getting started with robotics, this course is for you!
Read more
"Basic Robotic Behaviors and Odometry" provides you with an introduction to autonomous mobile robots, including forward kinematics (“odometry”), basic sensors and actuators, and simple reactive behavior. This course is centered around exercises in the realistic, physics-based simulator, “Webots”, where you will experiment in a hands-on manner with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems. An overarching objective of this course is to understand the role of the physical system on algorithm design and its role as source of uncertainty that makes robots non-deterministic. If you are interested in getting started with robotics, this course is for you!
Read more
"Basic Robotic Behaviors and Odometry" provides you with an introduction to autonomous mobile robots, including forward kinematics (“odometry”), basic sensors and actuators, and simple reactive behavior. This course is centered around exercises in the realistic, physics-based simulator, “Webots”, where you will experiment in a hands-on manner with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems. An overarching objective of this course is to understand the role of the physical system on algorithm design and its role as source of uncertainty that makes robots non-deterministic. If you are interested in getting started with robotics, this course is for you!
This course can be taken for academic credit as part of CU Boulder’s MS in Computer Science degrees offered on the Coursera platform. These fully accredited graduate degrees offer targeted courses, short 8-week sessions, and pay-as-you-go tuition. Admission is based on performance in three preliminary courses, not academic history. CU degrees on Coursera are ideal for recent graduates or working professionals. Learn more:
MS in Computer Science: https://coursera.org/degrees/ms-computer-science-boulder
Register for this course and see more details by visiting:
OpenCourser.com/course/gq5ore/basic
What's inside
Syllabus
Getting Started
This week introduces the course and gives you an opportunity to introduce yourself. You will prepare for the rest of the course by learning about the main operation tool we will use throughout, the realistic robotics simulator "Webots". You will become familiar with Webots, its hosting website, and will begin to develop your foundation in navigating the simulator.
Read more
Syllabus
Getting Started
This week introduces the course and gives you an opportunity to introduce yourself. You will prepare for the rest of the course by learning about the main operation tool we will use throughout, the realistic robotics simulator "Webots". You will become familiar with Webots, its hosting website, and will begin to develop your foundation in navigating the simulator.
Read more
Sensors and Actuators
This week introduces the devices that allow robots to move and effectuate changes in their environment ("actuators"), as well as perceive their world ("sensors").
Reactive Behaviors and State Machines
In this week, you will experiment with basic reactive robotic behaviors and understand the challenges of task execution.
Coordinate Systems, Degrees of Freedom and Forward Kinematics
This week you will learn how to formally describe the global pose of a robot and how different actuators can affect this pose.
Localization with Odometry and Loop Closure
In this week, you will learn how to keep track of actuation commands and hence estimate the pose of your robot. You will use information from the environment to improve pose estimation and understand the concept of "holonomy".
Good to know
Good to know
Know what's good ,
what to watch for , and
possible dealbreakers
Examines basic robotic behaviors, which is standard in computer science curriculum
Teaches basic sensors and actuators, which helps learners build a foundation
Involves python programming, which is an industry standard
Taught by Nikolaus Correll, an expert in the field
Introduces the Webots simulator, which is a recognized tool in robotics
Includes hands-on labs and interactive experiments
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Save Basic Robotic Behaviors and Odometry to your list so you can find it easily later:
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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 Basic Robotic Behaviors and Odometry with these
activities:
Review basic kinematics
Show steps
Reviewing basic kinematics will strengthen foundational understanding of robot motion and help when learning about more advanced topics such as inverse kinematics and robot control.
Browse courses on
Forward Kinematics
Show steps
-
Read and review lecture notes on kinematics.
-
Complete practice problems and exercises on kinematics.
Review basic programming concepts
Show steps
Reviewing basic programming concepts will strengthen foundational understanding of programming and help when learning about more advanced topics such as robotics software architecture and algorithms.
Browse courses on
Programming Fundamentals
Show steps
-
Read and review lecture notes on programming fundamentals.
-
Complete practice problems and exercises on programming.
Review linear algebra and calculus
Show steps
Reviewing linear algebra and calculus will strengthen foundational understanding of mathematics and help when learning about more advanced topics such as robot kinematics and dynamics.
Browse courses on
Linear Algebra
Show steps
-
Read and review lecture notes on linear algebra and calculus.
-
Complete practice problems and exercises on linear algebra and calculus.
13 other activities
Expand to see all activities and additional details
Show all 16 activities
Review Basic Linear Algebra
Show steps
Refresh your knowledge of basic linear algebra, which is essential for understanding robot kinematics.
Browse courses on
Linear Algebra
Show steps
-
Review the concepts of vectors, matrices, and transformations.
-
Solve practice problems to test your understanding.
Practice building and simulating simple robots in Webots
Show steps
Practicing building and simulating simple robots in Webots will provide hands-on experience with the software and help when learning about more advanced topics such as robot design and control.
Show steps
-
Follow the Webots tutorials to build and simulate a simple robot.
-
Experiment with different robot designs and control algorithms.
Join a Study Group to Discuss Course Concepts
Show steps
Engage in peer learning and reinforce your understanding by discussing course concepts in a group.
Show steps
-
Find or create a study group with fellow students.
-
Meet regularly to discuss course material, solve problems, and share insights.
Use the Webots Simulator to Test Robot Behaviors
Show steps
Gain hands-on experience with robot behaviors and sensor feedback using the realistic Webots simulator.
Show steps
-
Install and set up the Webots simulator.
-
Create a simple robot model and environment in Webots.
-
Write a program to control the robot and observe its behavior.
Participate in a study group to discuss course material
Show steps
Participating in a study group to discuss course material will provide an opportunity to engage with peers, clarify concepts, and reinforce understanding.
Show steps
-
Find a study group or form one with classmates.
-
Meet regularly to discuss course material and work on problems together.
Create a study guide for the course
Show steps
Creating a study guide for the course will help organize and consolidate learning materials, making it easier to review and prepare for assessments.
Show steps
-
Gather and organize course materials, including lecture notes, assignments, and readings.
-
Identify key concepts and summarize them in a concise and structured manner.
-
Include practice questions and exercises to reinforce understanding.
Solve Forward Kinematic Equations
Show steps
Solve forward kinematics equations by hand to solidify your understanding of how actuator inputs affect robot pose.
Browse courses on
Coordinate Systems
Show steps
-
Review the forward kinematics equations for your chosen robot.
-
Set up a simple robot model with a few actuators.
-
Compute the robot's pose for a given set of actuator inputs.
Attend a Workshop on Robot Navigation
Show steps
Gain practical experience and insights into robot navigation algorithms and techniques.
Show steps
-
Find and register for a robot navigation workshop.
-
Attend the workshop and actively participate in hands-on exercises.
Create a presentation on the basics of robotics
Show steps
Creating a presentation on the basics of robotics will help solidify understanding of the fundamental concepts and provide an opportunity to share knowledge with others.
Browse courses on
Robotics
Show steps
-
Research and gather information on the basics of robotics.
-
Organize and structure the presentation content.
-
Create visuals and slides to support the presentation.
-
Practice delivering the presentation.
Design a Collision Avoidance Algorithm
Show steps
Apply the concepts of reactive behaviors to design and implement a collision avoidance algorithm for a mobile robot.
Browse courses on
Collision Avoidance
Show steps
-
Define the objectives and constraints of the collision avoidance algorithm.
-
Develop a flowchart or pseudocode for the algorithm.
-
Implement the algorithm in a programming language.
Follow tutorials on advanced robotics topics
Show steps
Following tutorials on advanced robotics topics will provide an opportunity to explore more specialized areas of robotics and gain in-depth knowledge.
Show steps
-
Identify advanced robotics topics of interest.
-
Find online tutorials or courses on these topics.
-
Follow the tutorials and complete the exercises.
Read Chapter 4 of 'Probabilistic Robotics'
Show steps
Review advanced concepts in localization and odometry to enhance your understanding of these topics.
View
Probabilistic Robotics (Intelligent Robotics...
on Amazon
Show steps
-
Read Chapter 4 of 'Probabilistic Robotics'.
-
Summarize the key concepts in your own words.
Contribute to the ROS Navigation Package
Show steps
Gain practical experience with robot navigation algorithms and contribute to the open-source community.
Browse courses on
Open Source
Show steps
-
Familiarize yourself with the ROS Navigation package.
-
Identify a potential area for contribution.
-
Submit a pull request to the ROS Navigation repository.
Review basic kinematics
Show steps
Reviewing basic kinematics will strengthen foundational understanding of robot motion and help when learning about more advanced topics such as inverse kinematics and robot control.
Browse courses on
Forward Kinematics
Show steps
Show steps
Show steps
- Read and review lecture notes on kinematics.
- Complete practice problems and exercises on kinematics.
Review basic programming concepts
Show steps
Reviewing basic programming concepts will strengthen foundational understanding of programming and help when learning about more advanced topics such as robotics software architecture and algorithms.
Browse courses on
Programming Fundamentals
Show steps
Show steps
Show steps
- Read and review lecture notes on programming fundamentals.
- Complete practice problems and exercises on programming.
Review linear algebra and calculus
Show steps
Reviewing linear algebra and calculus will strengthen foundational understanding of mathematics and help when learning about more advanced topics such as robot kinematics and dynamics.
Browse courses on
Linear Algebra
Show steps
Show steps
Show steps
- Read and review lecture notes on linear algebra and calculus.
- Complete practice problems and exercises on linear algebra and calculus.
13 other activities
Expand to see all activities and additional details
Show all 16 activities
Review Basic Linear Algebra
Show steps
Refresh your knowledge of basic linear algebra, which is essential for understanding robot kinematics.
Browse courses on
Linear Algebra
Show steps
Show steps
Show steps
- Review the concepts of vectors, matrices, and transformations.
- Solve practice problems to test your understanding.
Practice building and simulating simple robots in Webots
Show steps
Practicing building and simulating simple robots in Webots will provide hands-on experience with the software and help when learning about more advanced topics such as robot design and control.
Show steps
Show steps
Show steps
- Follow the Webots tutorials to build and simulate a simple robot.
- Experiment with different robot designs and control algorithms.
Join a Study Group to Discuss Course Concepts
Show steps
Engage in peer learning and reinforce your understanding by discussing course concepts in a group.
Show steps
Show steps
Show steps
- Find or create a study group with fellow students.
- Meet regularly to discuss course material, solve problems, and share insights.
Use the Webots Simulator to Test Robot Behaviors
Show steps
Gain hands-on experience with robot behaviors and sensor feedback using the realistic Webots simulator.
Show steps
Show steps
Show steps
- Install and set up the Webots simulator.
- Create a simple robot model and environment in Webots.
- Write a program to control the robot and observe its behavior.
Participate in a study group to discuss course material
Show steps
Participating in a study group to discuss course material will provide an opportunity to engage with peers, clarify concepts, and reinforce understanding.
Show steps
Show steps
Show steps
- Find a study group or form one with classmates.
- Meet regularly to discuss course material and work on problems together.
Create a study guide for the course
Show steps
Creating a study guide for the course will help organize and consolidate learning materials, making it easier to review and prepare for assessments.
Show steps
Show steps
Show steps
- Gather and organize course materials, including lecture notes, assignments, and readings.
- Identify key concepts and summarize them in a concise and structured manner.
- Include practice questions and exercises to reinforce understanding.
Solve Forward Kinematic Equations
Show steps
Solve forward kinematics equations by hand to solidify your understanding of how actuator inputs affect robot pose.
Browse courses on
Coordinate Systems
Show steps
Show steps
Show steps
- Review the forward kinematics equations for your chosen robot.
- Set up a simple robot model with a few actuators.
- Compute the robot's pose for a given set of actuator inputs.
Attend a Workshop on Robot Navigation
Show steps
Gain practical experience and insights into robot navigation algorithms and techniques.
Show steps
Show steps
Show steps
- Find and register for a robot navigation workshop.
- Attend the workshop and actively participate in hands-on exercises.
Create a presentation on the basics of robotics
Show steps
Creating a presentation on the basics of robotics will help solidify understanding of the fundamental concepts and provide an opportunity to share knowledge with others.
Browse courses on
Robotics
Show steps
Show steps
Show steps
- Research and gather information on the basics of robotics.
- Organize and structure the presentation content.
- Create visuals and slides to support the presentation.
- Practice delivering the presentation.
Design a Collision Avoidance Algorithm
Show steps
Apply the concepts of reactive behaviors to design and implement a collision avoidance algorithm for a mobile robot.
Browse courses on
Collision Avoidance
Show steps
Show steps
Show steps
- Define the objectives and constraints of the collision avoidance algorithm.
- Develop a flowchart or pseudocode for the algorithm.
- Implement the algorithm in a programming language.
Follow tutorials on advanced robotics topics
Show steps
Following tutorials on advanced robotics topics will provide an opportunity to explore more specialized areas of robotics and gain in-depth knowledge.
Show steps
Show steps
Show steps
- Identify advanced robotics topics of interest.
- Find online tutorials or courses on these topics.
- Follow the tutorials and complete the exercises.
Read Chapter 4 of 'Probabilistic Robotics'
Show steps
Review advanced concepts in localization and odometry to enhance your understanding of these topics.
View
Probabilistic Robotics (Intelligent Robotics...
on Amazon
Show steps
Show steps
Show steps
- Read Chapter 4 of 'Probabilistic Robotics'.
- Summarize the key concepts in your own words.
Contribute to the ROS Navigation Package
Show steps
Gain practical experience with robot navigation algorithms and contribute to the open-source community.
Browse courses on
Open Source
Show steps
Show steps
Show steps
- Familiarize yourself with the ROS Navigation package.
- Identify a potential area for contribution.
- Submit a pull request to the ROS Navigation repository.
Career center
Learners who complete Basic Robotic Behaviors and Odometry will develop knowledge and skills
that may be useful to these careers:
Automation Engineer
Automation Engineer
As an Automation Engineer, you will be responsible for designing, building, and maintaining automated systems which could include robots. This course can help prepare you for this career path as it introduces you to basic robotic behaviors and odometry. You will learn about forward kinematics, as well as basic sensors and actuators. Hands-on experience in the realistic, physics-based simulator, “Webots”, will help provide you with the experience needed for this field.
Mobile Robot Engineer
Mobile Robot Engineer
As a Mobile Robot Engineer, you will be responsible for designing, building, and maintaining mobile robots. This course can help prepare you for this career path as it introduces you to basic robotic behaviors and odometry. You will learn about forward kinematics, as well as basic sensors and actuators. Hands-on experience in the realistic, physics-based simulator, “Webots”, will help provide you with the experience needed for this field.
Robotics Software Engineer
Robotics Software Engineer
As a Robotics Software Engineer, you will be responsible for developing software for robots. This course can help prepare you for this career path, as it provides a foundation in basic robotic behaviors and odometry. The course includes topics such as forward kinematics, as well as basic sensors and actuators. The course also provides hands-on experience with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems.
Automated Systems Technician
Automated Systems Technician
As an Automated Systems Technician, you will be responsible for installing, maintaining, and repairing automated systems which may include robots. You will gain knowledge in basic robotic behaviors and odometry by taking this course. You will learn about forward kinematics, as well as basic sensors and actuators. This course offers a hands-on approach in the realistic, physics-based simulator, “Webots”, where you can experiment with simple reactive behaviors for collision avoidance and line following, state machines, and kinematics.
Mechatronics Engineer
Mechatronics Engineer
As a Mechatronics Engineer, you will be responsible for designing, building, and maintaining a variety of automated systems. This course will introduce you to the basics of robot motion and control and help build a solid foundation for your future studies and work in this field. The course provides experience in the realistic, physics-based simulator, “Webots”, where you will experiment hands-on with simple reactive behaviors for collision avoidance and line following.
Industrial Robot Operator
Industrial Robot Operator
As an Industrial Robot Operator, you will be responsible for operating, programming, and maintaining industrial robots. Basic robotic behaviors and odometry is an integral part of robotics and this course you will gain a better understanding of the fundamentals. The course covers topics such as forward kinematics, as well as basic sensors and actuators. Hands-on experience in the realistic, physics-based simulator, “Webots”, prepares you for the hands-on experience you will need for this role.
Robotics Technician
Robotics Technician
As a Robotics Technician, you will be responsible for the upkeep and repair of different types of robots which are used in industrial, commercial, and laboratory settings. Many robotics technicians have to learn a great deal about programming, mechanics, and electronics in order to perform their job duties. Taking this course will introduce you to basic robotics behaviors and odometry and help you build a foundation for a career in this field. The course will introduce you to forward kinematics, as well as basic sensors and actuators. The hands-on, realistic physics-based simulator called “Webots” prepares you for the work you will be doing in this field.
Manufacturing Engineer
Manufacturing Engineer
As a Manufacturing Engineer, you will be responsible for designing and implementing manufacturing processes. This course may be useful to you if you are interested in this career path as it provides a foundation in basic robotic behaviors and odometry. The course covers topics such as forward kinematics, as well as basic sensors and actuators.
Control Systems Engineer
Control Systems Engineer
As a Control Systems Engineer, you will be responsible for designing and implementing control systems for a variety of applications which could include robots. This course may be useful to you if you are interested in this career path as it provides a foundation in basic robotic behaviors and odometry. The course includes hands-on experience with the realistic, physics-based simulator “Webots”.
Mechanical Engineer
Mechanical Engineer
As a Mechanical Engineer, you will be responsible for designing and building mechanical systems. This course may be useful for you if you are interested in this field, as it provides an introduction to basic robotic behaviors and odometry. The course covers topics such as forward kinematics, as well as basic sensors and actuators.
Computer Engineer
Computer Engineer
As a Computer Engineer, you will be responsible for designing and building software and computer hardware. This course may be useful for you if you are interested in this field, as it provides an introduction to basic robotic behaviors and odometry. The course covers topics such as forward kinematics, as well as basic sensors and actuators.
Electrical Engineer
Electrical Engineer
As an Electrical Engineer, you will be responsible for designing and building electrical systems. This course may be useful for you if you are interested in this field, as it provides an introduction to basic robotic behaviors and odometry. The course covers topics such as forward kinematics, as well as basic sensors and actuators.
Robotics Research Engineer
Robotics Research Engineer
As a Robotics Research Engineer, you will be responsible for developing and testing new types of robots. This course may be useful to you if you want to go into the field of robotics research as it provides a foundation in basic robotic behaviors and odometry. The course includes topics such as forward kinematics, as well as basic sensors and actuators. You will also get practical hands-on experience with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems.
Software Engineer
Software Engineer
As a Software Engineer, you will be responsible for designing and developing software. This course may be useful for you if you are interested in this field, as it provides an introduction to basic robotic behaviors and odometry. The course covers topics such as forward kinematics, as well as basic sensors and actuators.
Data Scientist
Data Scientist
As a Data Scientist, you will be responsible for collecting and analyzing data. This course may be useful for you if you are interested in this field, as it provides an introduction to basic robotic behaviors and odometry. The course covers forward kinematics, as well as basic sensors and actuators.
For more career information including salaries, visit:
OpenCourser.com/course/gq5ore/basic
Reading list
We've selected nine books
that we think will supplement your
learning. Use these to
develop background knowledge, enrich your coursework, and gain a
deeper understanding of the topics covered in
Basic Robotic Behaviors and Odometry .
Provides a comprehensive overview of autonomous mobile robots, covering a wide range of topics relevant to this course, including sensors, actuators, navigation, and planning.
Provides a comprehensive introduction to robot modeling and control, covering a wide range of topics relevant to this course, including kinematics, dynamics, control theory, and applications.
Provides a comprehensive introduction to robotics, covering a wide range of topics relevant to this course, including kinematics, dynamics, and control.
Provides an introduction to probabilistic robotics, which is essential for understanding the uncertainties and noise that are inherent in robotics systems.
Provides a comprehensive introduction to embedded robotics, which is essential for understanding the design and implementation of embedded robotics systems.
Provides a comprehensive introduction to reinforcement learning, which is essential for understanding the use of reinforcement learning in robotics systems.
Save
Provides a comprehensive introduction to planning algorithms, which are essential for understanding the planning and navigation of robots.
Provides a comprehensive introduction to machine learning for robotics, which is essential for understanding the use of machine learning in robotics systems.
Provides a comprehensive introduction to the Robot Operating System (ROS), which widely used software framework for robotics.
For more information about how these books relate to this course, visit:
OpenCourser.com/course/gq5ore/basic
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Effort
About 50 hours
Level
Intermediate
Via
Coursera
Institution
University of Colorado Boulder
Instructor
Nikolaus Correll
Language
English
This course belongs to a
collection
called
Introduction to Robotics with Webots. It's comprised of three courses:
- Robotic Mapping and Trajectory Generation
- Basic Robotic Behaviors and Odometry (viewing)
- Robotic Path Planning and Task Execution
Good to know
Examines basic robotic behaviors, which is standard in computer science curriculum
Teaches basic sensors and actuators, which helps learners build a foundation
Involves python programming, which is an industry standard
Taught by Nikolaus Correll, an expert in the field
Introduces the Webots simulator, which is a recognized tool in robotics
Includes hands-on labs and interactive experiments
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