课程信息
4.3
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专项课程
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中级

中级

完成时间(小时)

完成时间大约为24 小时

建议:This course requires 4 weeks of study of approximately 5 hours/week....
可选语言

英语(English)

字幕:英语(English)
专项课程
100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为24 小时

建议:This course requires 4 weeks of study of approximately 5 hours/week....
可选语言

英语(English)

字幕:英语(English)

教学大纲 - 您将从这门课程中学到什么

1
完成时间(小时)
完成时间为 6 小时

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)....
Reading
7 个视频 (总计 33 分钟), 2 个阅读材料, 9 个测验
Video7 个视频
First-Order Analysis of a Single Contact (Chapter 12.1.1)4分钟
Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)5分钟
Multiple Contacts (Chapter 12.1.3)4分钟
Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)4分钟
Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)4分钟
Form Closure (Chapter 12.1.7)4分钟
Reading2 个阅读材料
Welcome to Course 5, Robot Manipulation and Wheeled Mobile Robots10分钟
Chapter 12 through 12.1分钟
Quiz8 个练习
Lecture Comprehension, Grasping and Manipulation (Chapter 12)8分钟
Lecture Comprehension, First-Order Analysis of a Single Contact (Chapter 12.1.1)2分钟
Lecture Comprehension, Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)6分钟
Lecture Comprehension, Multiple Contacts (Chapter 12.1.3)2分钟
Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)4分钟
Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)4分钟
Lecture Comprehension, Form Closure (Chapter 12.1.7)2分钟
Chapter 12 through 12.1, Grasping and Manipulation分钟
2
完成时间(小时)
完成时间为 9 小时

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....
Reading
6 个视频 (总计 26 分钟), 1 个阅读材料, 8 个测验
Video6 个视频
Planar Graphical Methods (Chapter 12.2.2)4分钟
Force Closure (Chapter 12.2.3)4分钟
Duality of Force and Motion Freedoms (Chapter 12.2.4)3分钟
Manipulation and the Meter-Stick Trick (Chapter 12.3)5分钟
Transport of an Assembly (Chapter 12.3)3分钟
Reading1 个阅读材料
Chapter 12.2 through 12.330分钟
Quiz7 个练习
Lecture Comprehension, Friction (Chapter 12.2.1)4分钟
Lecture Comprehension, Planar Graphical Methods (Chapter 12.2.2)4分钟
Lecture Comprehension, Force Closure (Chapter 12.2.3)6分钟
Lecture Comprehension, Duality of Force and Motion Freedoms (Chapter 12.2.4)4分钟
Lecture Comprehension, Manipulation and the Meter-Stick Trick (Chapter 12.3)2分钟
Lecture Comprehension, Transport of an Assembly (Chapter 12.3)4分钟
Chapter 12.2 through 12.3, Grasping and Manipulation10分钟
3
完成时间(小时)
完成时间为 4 小时

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

Kinematic models of omnidirectional and nonholonomic wheeled mobile robots....
Reading
4 个视频 (总计 16 分钟), 1 个阅读材料, 5 个测验
Video4 个视频
Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6分钟
Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3分钟
Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)5分钟
Reading1 个阅读材料
Chapter 13 through 13.3.1分钟
Quiz5 个练习
Lecture Comprehension, Wheeled Mobile Robots (Chapter 13.1)2分钟
Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)2分钟
Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)4分钟
Lecture Comprehension, Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)6分钟
Chapter 13 through 13.3.1, Wheeled Mobile Robots15分钟
4
完成时间(小时)
完成时间为 6 小时

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....
Reading
8 个视频 (总计 43 分钟), 1 个阅读材料, 9 个测验
Video8 个视频
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)6分钟
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)5分钟
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)5分钟
Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)5分钟
Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)5分钟
Odometry (Chapter 13.4)4分钟
Mobile Manipulation (Chapter 13.5)6分钟
Reading1 个阅读材料
Chapter 13.3.2 through 13.530分钟
Quiz9 个练习
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 1 of 4)6分钟
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)12分钟
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)2分钟
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)4分钟
Lecture Comprehension, Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)4分钟
Lecture Comprehension, Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)4分钟
Lecture Comprehension, Odometry (Chapter 13.4)2分钟
Lecture Comprehension, Mobile Manipulation (Chapter 13.5)18分钟
Chapter 13.3.2 through 13.5, Wheeled Mobile Robots20分钟

讲师

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Kevin Lynch

Professor
Mechanical Engineering

关于 Northwestern University

Northwestern University is a private research and teaching university with campuses in Evanston and Chicago, Illinois, and Doha, Qatar. Northwestern combines innovative teaching and pioneering research in a highly collaborative environment that transcends traditional academic boundaries. ...

关于 Modern Robotics: Mechanics, Planning, and Control 专项课程

This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students' understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself....
Modern Robotics:  Mechanics, Planning, and Control

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