Modern Robotics, Course 6: Capstone Project, Mobile Manipulation

Northwestern University via Coursera

Go to Course: https://www.coursera.org/learn/modernrobotics-course6

Introduction

**Course Review: Modern Robotics, Course 6: Capstone Project, Mobile Manipulation** If you have a passion for robotics and are looking to bridge theory with practical applications, the "Modern Robotics, Course 6: Capstone Project, Mobile Manipulation" available on Coursera is an exceptional choice. This capstone project represents the crowning achievement in the Modern Robotics specialization, allowing students to synthesize knowledge gained from earlier courses into a tangible project that simulates real-world robotic manipulation tasks. ### Course Overview The capstone project focuses on the task of mobile manipulation, which involves controlling both the motion of a wheeled mobile base and the manipulation of a robotic arm in a cohesive manner. This ultimately leads to achieving a specified manipulation task. Engaging with this project means diving deep into critical concepts such as trajectory planning, odometry, and feedback control, all vital for anyone looking to excel in the field of robotics. The course is structured into milestones, each designed to build incrementally on your understanding and capabilities while providing a hands-on experience with the Modern Robotics software library, which is powered by Python, Mathematica, and MATLAB. ### Syllabus Breakdown 1. **Introduction to the Capstone Project and Milestone 1**: You'll kick off the project by exploring odometry for wheeled mobile robots, where you will use a kinematic simulator to understand the dynamics of the youBot omnidirectional mobile robot equipped with mecanum wheels. This foundational milestone is crucial as it sets the stage for all the subsequent tasks. 2. **Milestone 2: Reference Trajectory Generation**: Here, you will learn to generate a reference trajectory in SE(3) for the end-effector of a mobile manipulator, specifically designed for completing a pick-and-place task. This milestone emphasizes the importance of trajectory design and how it influences the performance of robotic tasks. 3. **Milestone 3: Feedforward Control**: This milestone emphasizes the application of feedforward control, allowing you to manage the motion of the end-effector along the reference trajectory you’ve created. This critical aspect of control theory enhances the accuracy and responsiveness of robotic systems. 4. **Completing the Project and Your Submission**: The final milestone involves integrating feedforward control with feedback mechanisms to stabilize the trajectory of the end-effector. This comprehensive approach ensures that you not only understand the theoretical underpinnings but are also capable of implementing them in practical scenarios. ### Recommendations I highly recommend this course for anyone looking to deepen their knowledge in robotics and apply what they have learned in a hands-on project. Here are a few reasons why you should consider enrolling: - **Integration of Knowledge**: This capstone effectively pulls together various elements from the specialization, allowing you to see how they interconnect in real-world applications. - **Practical Experience**: Working with a kinematic simulator and the Modern Robotics software library gives you practical experience that is essential for anyone looking to work in robotics or related fields. - **Skill Development**: You'll enhance your problem-solving abilities and programming skills in a meaningful context. The course not only discusses concepts but also encourages implementation, which reinforces learning. - **Portfolio Building**: Successfully completing this capstone project provides you with a concrete example of your skills and capabilities, which can be an asset in the job market. In conclusion, "Modern Robotics, Course 6: Capstone Project, Mobile Manipulation" is an enriching course that offers invaluable opportunities to learn and apply advanced robotics concepts. Whether you're a student or a professional looking to refine your skills, this course is an excellent step toward mastering the field of robotics.

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.

Milestone 2: Reference Trajectory Generation

Generating a reference trajectory in SE(3) for the end-effector of a mobile manipulator to achieve a pick-and-place task.

Milestone 3: Feedforward Control

Feedforward control of the end-effector of a mobile manipulator to drive the end-effector along a reference trajectory.

Completing the Project and Your Submission

Feedforward-plus-feedback control of the end-effector of a mobile manipulator to stabilize a reference trajectory for the end-effector.

Overview

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 previo

Skills

Reviews

Probably the best specialization I've done so far. I wish there were more programs like this!

I spent a lot time from conceptual to learn kinematics, dynamics, controls, and so on to learn and enhance my knowledge, I am so appreciate.

It was fascinating implementing what I learnt in the previous five courses into a real-life scenario.

Capstone Project taught me the most. Thank you for the great course. Would you have a advanced robotics course? I would love to take that too.

I really loved this course. Now forums are slightly active. You get a response from learners. If you are stuck don't give up keep trying you will be able to complete the project.