Welcome to the first course in the Robotics MicroMasters series. This is an advanced course designed for learners who have a bachelor's degree in engineering or a similar field.
Learners will succeed in this course if they have familiarity with basic operations on matrices and vectors, as well as exposure to derivatives and partial derivatives.
The fundamental challenge this course addresses is how one can create robots that operate well in the real world.
Week 1: Vector spaces, inner products, vector norms, orthogonality
Week 2: Linear transformations, matrix multiplication, matrix groups
Week 3: Coordinate transformations, rigid transformations, rotation matrices quaternions, Matrix groups SE(2) and SE(3)
Week 4: Project
Week 5: Kinematic chains, forward kinematics,
Week 6: Inverse kinematics
Week 7: Parallel mechanisms
Week 8: Project
Kinematic Path Planning
Week 9: Graph based methods, Dijkstra’s method, A*Star
Week 10: RRT, configuration space
Week 11: Artificial potential fields
Week 12: Project
Camillo J. Taylor and Mark Yim