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.
Modern Robotics, Course 6: Capstone Project, Mobile Manipulation
This course is part of Modern Robotics: Mechanics, Planning, and Control Specialization
Instructor: Kevin Lynch
Sponsored by EmployNV
8,173 already enrolled
(52 reviews)
Details to know
Add to your LinkedIn profile
See how employees at top companies are mastering in-demand skills
Build your subject-matter expertise
- Learn new concepts from industry experts
- Gain a foundational understanding of a subject or tool
- Develop job-relevant skills with hands-on projects
- Earn a shareable career certificate
Earn a career certificate
Add this credential to your LinkedIn profile, resume, or CV
Share it on social media and in your performance review
There are 4 modules in this course
Odometry for wheeled mobile robots and its use in a kinematic simulator for the youBot omnidirectional mobile robot with four mecanum wheels.
What's included
5 videos3 readings1 discussion prompt
Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task.
What's included
3 videos1 reading1 discussion prompt
Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.
What's included
4 videos1 reading1 discussion prompt
Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector.
What's included
1 reading1 peer review1 discussion prompt
Instructor
Offered by
Why people choose Coursera for their career
Learner reviews
Showing 3 of 52
52 reviews
- 5 stars
92.30%
- 4 stars
7.69%
- 3 stars
0%
- 2 stars
0%
- 1 star
0%
Recommended if you're interested in Physical Science and Engineering
University of Cape Town
University of Colorado Boulder
University of Toronto
Open new doors with Coursera Plus
Unlimited access to 7,000+ world-class courses, hands-on projects, and job-ready certificate programs - all included in your subscription
Advance your career with an online degree
Earn a degree from world-class universities - 100% online
Join over 3,400 global companies that choose Coursera for Business
Upskill your employees to excel in the digital economy