Difference between revisions of "Coursera Resources"

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Most resources for the six-course '''[https://www.coursera.org/specializations/modernrobotics Coursera Modern Robotics Specialization]''' are hosted on Coursera, but some are more conveniently collected on this wiki.
Resources for the Modern Robotics Coursera specialization:


== General (All Courses) ==

===Things you should complete before taking any course===

* [[Modern Robotics#Book|Buy the book or download the free preprint version]]
* [[Getting Started with the Modern Robotics Code Library]]
* [[Getting Started with the Modern Robotics Code Library]]
* [[Getting started with the V-REP simulator]]
* [[Getting Started with the CoppeliaSim Simulator]]

* The [[ |degrees of freedom of the human arm discussion prompt (Course 1)]].
===General references===
* The [[ |A* search project (Course 4)]].

* The [[ |sampling-based motion planning project (Course 4)]].
* [http://modernrobotics.org The Modern Robotics wiki], which includes a link to purchase the published hardback (Cambridge University Press) or to download a pdf of the book preprint. This site also has book errata, the Modern Robotics (MR) code library (in Mathematica, MATLAB, and Python), CoppeliaSim robot simulator, CoppeliaSim simulation scenes, and other information.
* The [[ |planar form-closure programming project (Course 5)]].
* [[CoppeliaSim Introduction|Introduction to CoppeliaSim and sample CoppeliaSim scenes used in the Specialization]]
* The [[ |stability of an assembly project (Course 5)]].
* [[Writing_a_CSV_File|This page has information on writing csv files in Python, MATLAB, and Mathematica, useful for some of the CoppeliaSim scenes]]
* The [[ |capstone mobile manipulation project (Course 6)]].
* [[Modern_Robotics#Book|Direct link to the book preprint, including Appendix A, Summary of Useful Formulas]]
* [[Modern_Robotics_Errata|Errata (if you see an error not already reported, please report it!)]]
* [https://github.com/NxRLab/ModernRobotics MR Code Library]
* [http://www.coppeliarobotics.com/ CoppeliaSim robot simulator]

===Prerequisite refresher readings===

* '''[[Modern Robotics Linear Algebra Review|A linear algebra refresher appendix to accompany the book.]]''' (other references: [https://www.math.ucdavis.edu/~linear/linear-guest.pdf online textbook],[http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3274/pdf/imm3274.pdf useful matrix identities], [https://en.wikipedia.org/wiki/Positive-definite_matrix positive-definite matrices], [https://en.wikipedia.org/wiki/Ellipsoid ellipsoids and their relationship to positive-definite matrices], [https://en.wikipedia.org/wiki/Complex_number complex numbers])
* [https://www.math.hmc.edu/calculus/index.html Calculus]
* [https://en.wikipedia.org/wiki/Linear_differential_equation Basic differential equations]
* Mechanics ([https://authors.library.caltech.edu/25023/1/Housner-HudsonDyn80.pdf online textbook], [https://en.wikipedia.org/wiki/Torque moment = r cross f])
* [https://www.python.org/ Programming in Python]
* [https://www.mathworks.com/support/learn-with-matlab-tutorials.html Programming in MATLAB]
* [http://reference.wolfram.com/language/tutorial/GettingStartedOverview.html Programming in Mathematica]

===Programming===

The MR code library is written in Python, MATLAB, and Mathematica. Since you will be building on this code, it is highly recommended that you program in one of these languages. If you choose another language, you will have to port the MR library yourself.

* You can obtain Python for free at [https://www.python.org https://www.python.org].
* You can obtain Mathematica at [https://www.wolfram.com/mathematica/ https://www.wolfram.com/mathematica/]. You will have to pay for it.
* As a result of support from Mathworks, you can obtain a free license to MATLAB while you are taking a course. Please see the individual Coursera course for details. Otherwise you can pay for MATLAB at [https://www.mathworks.com/ https://www.mathworks.com/].
* An alternative to MATLAB is the [https://www.gnu.org/software/octave/ free GNU Octave scientific programming language], which uses syntax essentially identical to MATLAB.

== Course 1: Foundations of Robot Motion ==

* The [[DOF of the Human Arm|degrees of freedom of the human arm discussion prompt]]

== Course 4: Robot Motion Planning and Control ==

* The [[A* Graph Search Project|A* graph search project]]
* The [[Sampling-Based Planning|sampling-based motion planning project]]

== Course 5: Robot Manipulation and Wheeled Mobile Robots ==

* The [[Evaluating Form Closure Project|planar form-closure testing project]]
* The [[Stability of an Assembly Project|stability of an assembly project]]

== Course 6: Capstone Project, Mobile Manipulation ==

* The [[Mobile Manipulation Capstone|capstone mobile manipulation project]]

Revision as of 02:15, 25 January 2020

Most resources for the six-course Coursera Modern Robotics Specialization are hosted on Coursera, but some are more conveniently collected on this wiki.

General (All Courses)

Things you should complete before taking any course

General references

Prerequisite refresher readings

Programming

The MR code library is written in Python, MATLAB, and Mathematica. Since you will be building on this code, it is highly recommended that you program in one of these languages. If you choose another language, you will have to port the MR library yourself.

Course 1: Foundations of Robot Motion

Course 4: Robot Motion Planning and Control

Course 5: Robot Manipulation and Wheeled Mobile Robots

Course 6: Capstone Project, Mobile Manipulation