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1

## Chapter 10: Motion Planning (Part 1 of 2)

5 个视频 （总计 24 分钟）, 3 个阅读材料, 7 个测验
5 个视频
C-Space Obstacles (Chapter 10.2.1)4分钟
Graphs and Trees (Chapter 10.2.3)2分钟
Graph Search (Chapter 10.2.4)9分钟
Complete Path Planners (Chapter 10.3)3分钟
3 个阅读材料
Welcome to Course 4, Robot Motion Planning and Control10分钟
How to Make This Course Successful5分钟
Chapter 10 through 10.31 小时 30 分
6 个练习
Lecture Comprehension, Overview of Motion Planning (Chapter 10.1)30分钟
Lecture Comprehension, C-Space Obstacles (Chapter 10.2.1)30分钟
Lecture Comprehension, Graphs and Trees (Chapter 10.2.3)30分钟
Lecture Comprehension, Graph Search (Chapter 10.2.4)30分钟
Lecture Comprehension, Complete Path Planners (Chapter 10.3)30分钟
Chapter 10 through 10.3, Motion Planning15分钟
2

## Chapter 10: Motion Planning (Part 2 of 2)

5 个视频 （总计 25 分钟）, 1 个阅读材料, 7 个测验
5 个视频
Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)3分钟
Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)7分钟
Virtual Potential Fields (Chapter 10.6)5分钟
Nonlinear Optimization (Chapter 10.7)5分钟
1 个阅读材料
Chapter 10.4 through 10.72小时
6 个练习
Lecture Comprehension, Grid Methods for Motion Planning (Chapter 10.4)30分钟
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)30分钟
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)30分钟
Lecture Comprehension, Virtual Potential Fields (Chapter 10.6)30分钟
Lecture Comprehension, Nonlinear Optimization (Chapter 10.7)30分钟
Chapter 10.4 through 10.7, Motion Planning30分钟
3

## Chapter 11: Robot Control (Part 1 of 2)

8 个视频 （总计 33 分钟）, 1 个阅读材料, 9 个测验
8 个视频
Error Response (Chapter 11.2.1)2分钟
Linear Error Dynamics (Chapter 11.2.2)4分钟
First-Order Error Dynamics (Chapter 11.2.2.1)1分钟
Second-Order Error Dynamics (Chapter 11.2.2.2)5分钟
Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)4分钟
Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)6分钟
Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4分钟
1 个阅读材料
Chapter 11 through 11.32小时
9 个练习
Lecture Comprehension, Control System Overview (Chapter 11.1)30分钟
Lecture Comprehension, Error Response (Chapter 11.2.1)30分钟
Lecture Comprehension, Linear Error Dynamics (Chapter 11.2.2)30分钟
Lecture Comprehension, First-Order Error Dynamics (Chapter 11.2.2.1)30分钟
Lecture Comprehension, Second-Order Error Dynamics (Chapter 11.2.2.2)30分钟
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)30分钟
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)30分钟
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)30分钟
Chapter 11 through 11.3, Robot Control1小时
4

## Chapter 11: Robot Control (Part 2 of 2)

5 个视频 （总计 25 分钟）, 1 个阅读材料, 6 个测验
5 个视频
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)5分钟
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)7分钟
Force Control (Chapter 11.5)2分钟
Hybrid Motion-Force Control (Chapter 11.6)5分钟
1 个阅读材料
Chapter 11.4 through 11.62小时
6 个练习
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)30分钟
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)30分钟
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)30分钟
Lecture Comprehension, Force Control (Chapter 11.5)30分钟
Lecture Comprehension, Hybrid Motion-Force Control (Chapter 11.6)30分钟
Chapter 11.4 through 11.6, Robot Control30分钟