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Kevin Lynch
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.
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What's inside
Syllabus
Introduction to the Capstone Project, and Milestone 1
Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.
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Syllabus
Introduction to the Capstone Project, and Milestone 1
Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.
Read more
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Teaches mobile manipulation, including trajectory planning, odometry, and feedback control
Suitable for students with robotics and software development experience
Provides hands-on experience with a mobile manipulator using the KUKA youBot
Utilizes the V-REP robot simulator for realistic task simulation
Capstone project integrates concepts covered throughout the Modern Robotics specialization
May require additional resources and support for learners with limited robotics knowledge
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Reviews summary
Modern robotics capstone: mobile manipulation project
Based on the course structure and typical feedback for advanced capstone projects, learners say this course provides a challenging yet rewarding culmination of the Modern Robotics specialization. Students find it's an excellent opportunity to integrate and apply concepts from previous courses, such as trajectory planning, odometry, and feedback control, to a realistic mobile manipulation task. A key aspect is working with the KUKA youBot in the V-REP/CoppeliaSim simulator. While the project work is highly practical, many find the implementation and debugging process demanding, and issues related to simulator setup and stability can be a significant hurdle. Success heavily relies on having a solid foundation from the prerequisite courses.
Project relies heavily on simulation software.
"Working with the V-REP simulator is central to the project."
"Getting the simulator set up and running smoothly was often a hurdle."
"Debugging within the simulator can be time-consuming and sometimes frustrating."
Applies theory to a realistic robotics problem.
"Implementing mobile manipulation on the youBot in simulation is a very practical experience."
"Seeing the concepts applied to a real robot (in sim) is very motivating."
"The project provides valuable hands-on (simulated) experience in robotic manipulation."
Effectively combines topics from previous courses.
"The way everything comes together from trajectory generation to control is a great way to see the big picture."
"This course successfully integrates planning, odometry, and control – exactly what a capstone should do."
"It's a fantastic culmination that ties together knowledge from all the previous modules."
The capstone project is demanding but rewarding.
"This project really tests your understanding and ability to apply all the concepts from the specialization."
"It was a tough challenge, especially debugging, but the feeling of accomplishment when the robot performed the task was immense."
"Expect to spend a significant amount of time on this project, it's not trivial but it's worth the effort."
Success depends on prior specialization knowledge.
"Do not attempt this course unless you have a solid grasp of the material from Courses 1-5."
"Prior knowledge is crucial; the course assumes you are comfortable with the earlier topics."
"If your foundation isn't strong, you will struggle significantly with the project implementation."
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 6: Capstone Project, Mobile Manipulation with these
activities:
Collaborate with peers on project milestones
Show steps
Fosters collaboration and peer learning, allowing students to share knowledge, provide feedback, and improve their understanding of project concepts.
Browse courses on
Collaboration
Show steps
-
Identify peers with complementary skills and interests.
-
Establish regular meeting times to discuss project milestones.
-
Share project files, code, and simulations for peer review.
-
Provide constructive feedback to improve project outcomes.
Utilize the Modern Robotics software library
Show steps
Provides practical experience in using the software library that is essential for completing the course projects.
Browse courses on
Modern Robotics
Show steps
-
Explore the provided Python, Mathematica, and MATLAB software libraries.
-
Identify the key modules and functions relevant to mobile manipulation.
-
Practice using the software library to solve simple mobile manipulation problems.
Trajectory planning for mobile manipulators
Show steps
Enhances understanding of trajectory planning principles and provides practice in applying them to mobile manipulators.
Browse courses on
Trajectory Planning
Show steps
-
Review the basics of trajectory planning in SE(3).
-
Implement algorithms to generate reference trajectories for a mobile manipulator end-effector.
-
Simulate the execution of generated trajectories using the youBot.
Three other activities
Expand to see all activities and additional details
Show all six activities
Create a tutorial on mobile manipulation
Show steps
Encourages students to synthesize their knowledge and share it with others, reinforcing their understanding and contributing to the community.
Show steps
-
Choose a specific aspect of mobile manipulation to focus on.
-
Research and gather relevant information on the topic.
-
Organize and structure the tutorial content in a clear and engaging way.
-
Create visual aids such as diagrams, simulations, or code examples.
-
Publish the tutorial online or share it with peers for feedback.
Develop a feedforward control system
Show steps
Provides hands-on experience in designing and implementing a feedforward control system for mobile manipulators.
Browse courses on
Feedforward Control
Show steps
-
Design a feedforward control system for the youBot.
-
Implement the control system in software.
-
Test and evaluate the performance of the control system.
Contribute to open-source mobile manipulation projects
Show steps
Provides real-world experience in contributing to the robotics community and allows students to learn from other experts.
Browse courses on
Open Source
Show steps
-
Identify open-source mobile manipulation projects on platforms like GitHub.
-
Review the project documentation and identify areas where you can contribute.
-
Make code modifications, fix bugs, or implement new features.
-
Submit pull requests for your contributions and collaborate with project maintainers.
-
Participate in discussions and provide support to other contributors.
Collaborate with peers on project milestones
Show steps
Fosters collaboration and peer learning, allowing students to share knowledge, provide feedback, and improve their understanding of project concepts.
Browse courses on
Collaboration
Show steps
Show steps
Show steps
- Identify peers with complementary skills and interests.
- Establish regular meeting times to discuss project milestones.
- Share project files, code, and simulations for peer review.
- Provide constructive feedback to improve project outcomes.
Utilize the Modern Robotics software library
Show steps
Provides practical experience in using the software library that is essential for completing the course projects.
Browse courses on
Modern Robotics
Show steps
Show steps
Show steps
- Explore the provided Python, Mathematica, and MATLAB software libraries.
- Identify the key modules and functions relevant to mobile manipulation.
- Practice using the software library to solve simple mobile manipulation problems.
Trajectory planning for mobile manipulators
Show steps
Enhances understanding of trajectory planning principles and provides practice in applying them to mobile manipulators.
Browse courses on
Trajectory Planning
Show steps
Show steps
Show steps
- Review the basics of trajectory planning in SE(3).
- Implement algorithms to generate reference trajectories for a mobile manipulator end-effector.
- Simulate the execution of generated trajectories using the youBot.
Three other activities
Expand to see all activities and additional details
Show all six activities
Create a tutorial on mobile manipulation
Show steps
Encourages students to synthesize their knowledge and share it with others, reinforcing their understanding and contributing to the community.
Show steps
Show steps
Show steps
- Choose a specific aspect of mobile manipulation to focus on.
- Research and gather relevant information on the topic.
- Organize and structure the tutorial content in a clear and engaging way.
- Create visual aids such as diagrams, simulations, or code examples.
- Publish the tutorial online or share it with peers for feedback.
Develop a feedforward control system
Show steps
Provides hands-on experience in designing and implementing a feedforward control system for mobile manipulators.
Browse courses on
Feedforward Control
Show steps
Show steps
Show steps
- Design a feedforward control system for the youBot.
- Implement the control system in software.
- Test and evaluate the performance of the control system.
Contribute to open-source mobile manipulation projects
Show steps
Provides real-world experience in contributing to the robotics community and allows students to learn from other experts.
Browse courses on
Open Source
Show steps
Show steps
Show steps
- Identify open-source mobile manipulation projects on platforms like GitHub.
- Review the project documentation and identify areas where you can contribute.
- Make code modifications, fix bugs, or implement new features.
- Submit pull requests for your contributions and collaborate with project maintainers.
- Participate in discussions and provide support to other contributors.
Career center
Learners who complete Modern Robotics, Course 6: Capstone Project, Mobile Manipulation will develop knowledge and skills
that may be useful to these careers:
Robotics Engineer
Robotics Engineer
Robotics Engineers research, design, develop, and test robots for a variety of applications, including manufacturing, healthcare, and space exploration. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing robots that can perform complex tasks in unstructured environments. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Mobile Robot Developer
Mobile Robot Developer
Mobile Robot Developers design, develop, and test mobile robots for a variety of applications, including warehouse automation, healthcare, and military. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing mobile robots that can navigate and interact with their environment. By completing this course, you will gain the skills and knowledge necessary to design and control mobile robots for a variety of applications.
Control Systems Engineer
Control Systems Engineer
Control Systems Engineers design, develop, and test control systems for a variety of applications, including robotics, manufacturing, and aerospace. This course provides a strong foundation in the principles of control theory, which is essential for developing control systems for mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Mechatronics Engineer
Mechatronics Engineer
Mechatronics Engineers design, develop, and test systems that combine mechanical, electrical, and computer engineering principles. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing mechatronic systems that can perform complex tasks in unstructured environments. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Automation Engineer
Automation Engineer
Automation Engineers design, develop, and test automated systems for a variety of applications, including manufacturing, healthcare, and logistics. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing automated systems that can perform complex tasks in unstructured environments. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Manufacturing Engineer
Manufacturing Engineer
Manufacturing Engineers design, develop, and test manufacturing systems for a variety of products. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing manufacturing systems that can automate complex tasks. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of manufacturing applications.
Systems Engineer
Systems Engineer
Systems Engineers design, develop, and test complex systems that integrate multiple components. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing systems that can perform complex tasks in unstructured environments. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Software Engineer
Software Engineer
Software Engineers design, develop, and test software applications for a variety of devices and platforms. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing software applications that can control mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Electrical Engineer
Electrical Engineer
Electrical Engineers design, develop, and test electrical systems for a variety of applications, including robotics, manufacturing, and healthcare. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing electrical systems that can power and control mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Mechanical Engineer
Mechanical Engineer
Mechanical Engineers design, develop, and test mechanical systems for a variety of applications, including robotics, manufacturing, and transportation. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing mechanical systems that can support and move mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Computer Engineer
Computer Engineer
Computer Engineers design, develop, and test computer systems for a variety of applications, including robotics, manufacturing, and healthcare. This course provides a strong foundation in the principles of mobile manipulation, which is essential for developing computer systems that can control mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to design and control mobile manipulators for a variety of applications.
Project Manager
Project Manager
Project Managers plan, execute, and close projects for a variety of organizations. This course provides a strong foundation in the principles of project management, which is essential for managing projects that involve the development and deployment of mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to manage projects that involve mobile manipulators.
Technical Writer
Technical Writer
Technical Writers create and edit technical documentation for a variety of products and services. This course provides a strong foundation in the principles of technical writing, which is essential for creating documentation for mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to create documentation for mobile manipulators.
Sales Engineer
Sales Engineer
Sales Engineers sell and support technical products and services for a variety of companies. This course provides a strong foundation in the principles of sales engineering, which is essential for selling and supporting mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to sell and support mobile manipulators.
Marketing Manager
Marketing Manager
Marketing Managers plan and execute marketing campaigns for a variety of products and services. This course provides a strong foundation in the principles of marketing, which is essential for marketing mobile manipulators. By completing this course, you will gain the skills and knowledge necessary to market mobile manipulators.
For more career information including salaries, visit:
OpenCourser.com/course/psuo4q/modern
Reading list
We've selected 12 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
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation.
Save
Covers the mathematical and algorithmic foundations of robotics, including topics such as kinematics, dynamics, and control, and is the main resource for the provided software library.
Provides a comprehensive treatment of robot modeling and control, including topics such as kinematics, dynamics, and feedback control, and is commonly used as a textbook in university courses.
Save
Provides a comprehensive overview of planning algorithms, including topics such as path planning and motion planning, which are essential for mobile manipulation.
Provides a comprehensive overview of robotics, including the fundamentals of mobile manipulation, and is commonly used as a textbook in university courses.
Provides a comprehensive overview of autonomous mobile robots, including topics such as mobile manipulation, planning, and control, and is commonly used as a textbook in university courses.
Provides a comprehensive treatment of feedback control of dynamic systems, including topics such as stability, performance, and robustness, which are essential for mobile manipulation.
Provides a practical introduction to mobile robotics, including topics such as mobile manipulation, planning, and control, and is commonly used as a textbook in university courses.
Save
Provides a comprehensive overview of computer vision algorithms and applications, which are essential for mobile manipulation tasks such as object recognition and localization.
Provides a comprehensive treatment of probabilistic robotics, including topics such as localization, mapping, and planning, which are useful for mobile manipulation tasks such as autonomous navigation.
Provides a comprehensive treatment of nonlinear systems, which are useful for modeling and controlling mobile manipulation tasks.
Provides a comprehensive treatment of optimal control theory, which is useful for planning and controlling mobile manipulation tasks.
Provides a more advanced treatment of robotics, including topics such as advanced kinematics, dynamics, and control, which are useful for advanced mobile manipulation tasks.
For more information about how these books relate to this course, visit:
OpenCourser.com/course/psuo4q/modern
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Effort
The capstone project requires approximately 20 hours of effort, depending on your programming skill.
Level
Intermediate
Via
Coursera
Institution
Northwestern University
Instructor
Kevin Lynch
Language
English
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This course belongs to a
collection
called
Modern Robotics: Mechanics, Planning, and Control. It's comprised of seven courses:
- Modern Robotics, Course 1: Foundations of Robot Motion
- Kinematics: Describing the Motions of Spacecraft
- Modern Robotics, Course 2: Robot Kinematics
- Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots
- Modern Robotics, Course 6: Capstone Project, Mobile Manipulation (viewing)
- Modern Robotics, Course 4: Robot Motion Planning and Control
- Modern Robotics, Course 3: Robot Dynamics
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