Enroll Course: https://www.coursera.org/learn/modernrobotics-course4
For anyone aspiring to a career in robotics or seeking a rigorous understanding of how these fascinating machines operate, the “Modern Robotics: Mechanics, Planning, and Control” specialization on Coursera is an invaluable resource. I recently completed Course 4, “Robot Motion Planning and Control,” and can confidently say it’s a challenging yet incredibly rewarding experience.
This course, like others in the specialization, is designed for serious students who are prepared to invest the time and effort into mastering fundamental mathematical modeling techniques. If you’re looking for a superficial overview, this isn’t it. But if you’re ready to dive deep into the core principles that underpin all aspects of robotics, you’ll find this course exceptionally well-structured.
Course 4 is split into two main pillars: Motion Planning and Robot Control. Chapter 10, “Motion Planning,” covers the essential concepts of Configuration Space (C-space) obstacles, the use of graphs and trees for navigation, and the powerful A* graph search algorithm. The second part of Chapter 10 delves into practical applications, exploring motion planning on discretized C-space grids, randomized sampling-based planners, virtual potential fields, and the intricacies of nonlinear optimization. This section truly equips you with the tools to devise strategies for robots to navigate complex environments.
Following this, Chapter 11, “Robot Control,” shifts focus to how we command and stabilize robot movement. It begins with an introduction to linear error dynamics, the critical concept of feedback control system stability, and how controllers command joint velocities. The latter half of Chapter 11 expands into commanding joint torques, the nuances of force control, and the sophisticated hybrid motion-force control techniques. Understanding these control strategies is paramount for achieving precise and stable robot behavior.
What makes this course stand out is its commitment to fundamental principles. The instructors expect you to engage with the material mathematically, which, while demanding, builds a robust understanding that transcends specific robot platforms. This is the kind of knowledge that prepares you for advanced study and real-world challenges in robotics.
**Recommendation:** If you are serious about robotics, this course is a must. Be prepared to work hard, but the foundational knowledge you gain in motion planning and control will be indispensable for your journey in this exciting field.
Enroll Course: https://www.coursera.org/learn/modernrobotics-course4