Robotics (edX)

We will learn about two core robot classes: kinematic chains (robot arms) and mobile bases. For both robot types, we will introduce methods to reason about 3-dimensional space and relationships between coordinate frames. For robot arms, we will use these to model the task of delivering a payload to a specified location. For mobile robots, we will introduce concepts for autonomous navigation in the presence of obstacles.

Class projects will make use of ROS - the open-source Robot Operating System widely used in both research and industry. Computer requirements for working on the projects will include a computer set up with Ubuntu Linux and high bandwidth internet access for downloading and installing ROS packages.

This course is part of the Artificial Intelligence MicroMasters Program.

What you'll learn:

- Represent 2D and 3D spatial relationships, homogeneous coordinates

- Manipulate robot arms: kinematic chains, forward and inverse kinematics, differential kinematics

- Program and navigate mobile robots: robot and map representations, motion planning

- Plan complete robot systems

- Develop present and future applications for robots

Course Syllabus

Week 1

Introduction to Robotics

Homogenous coordinates and transform representations

Week 2

Kinematic chains

Forward kinematics

Week 3

Inverse kinematics: analytical methods

Week 4

Differential kinematics: Jacobian computation, singular configurations

Week 5

Configuration space operation

Week 6

Mobile robots

Differential drive kinematics

Week 7

Motion planning in robotics

Prerequisites:

- College-level introductory linear algebra (vector spaces, linear systems, matrix decomposition)

- College-level introductory calculus (partial derivatives, function gradients)

- Basic knowledge of computer programming (variables, functions, control flow)

- Projects will be carried out in the Python language, with C++ as an option