Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots

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  • 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).
  • 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.
  • Chapter 13: Wheeled Mobile Robots (Part 1 of 2)
    • Kinematic models of omnidirectional and nonholonomic wheeled mobile robots.
  • 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.

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