• Length:
    10 Weeks
  • Effort:
    8–10 hours per week
  • Price:

    FREE
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  • Institution
  • Subject:
  • Level:
    Advanced
  • Language:
    English
  • Video Transcript:
    English

Associated Programs:

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

About this course

Skip About this course

We think of Robotics as the science of building devices that physically interact with their environment. The most useful robots do it precisely, powerfully, repeatedly, tirelessly, fast, or some combinations of these. The most interesting robots maybe even do it intelligently. This course will cover the fundamentals of robotics, focusing on both the mind and the body.

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 (www.ros.org) 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.

What you'll learn

Skip 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

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

Meet your instructors

Matei Ciocarlie
Department of Mechanical Engineering
Columbia University

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Who can take this course?

Unfortunately, learners from one or more of the following countries or regions will not be able to register for this course: Iran, Cuba and the Crimea region of Ukraine. While edX has sought licenses from the U.S. Office of Foreign Assets Control (OFAC) to offer our courses to learners in these countries and regions, the licenses we have received are not broad enough to allow us to offer this course in all locations. EdX truly regrets that U.S. sanctions prevent us from offering all of our courses to everyone, no matter where they live.