Скоро
Robotics Engineering
От углов суставов до робота, который доводит дело до конца.
Полный курс
- модулей
- 57
- тем
- 598
- минут на урок
- 15
58%
работодателей ожидают, что роботы и автономные системы изменят их бизнес к 2030 году.
Что вы сможете делать.
Решайте прямую и обратную кинематику
Этап 2 · Spatial Kinematics
Моделируйте динамику, момент и контактные силы
Этап 3 · Dynamics & Actuation
Объединяйте сенсоры в надёжную оценку состояния
Этап 4 · Sensing, Estimation & Software
Планируйте движение без столкновений и устойчивый захват
Этап 5 · Planning & Manipulation
Интегрируйте и вводите в строй рабочий прототип
Этап 6 · Mobile Systems & Verification
Выпускайте задачу робота с восстановлением после сбоя
Этап 7 · Laboratory & Capstone
Семь этапов.Один ровный подъём.
Рамы и суставы, силы и сенсоры, планы и захваты — а затем весь робот целиком.
57модулей
в 7 этапах
598тем
≈ 10 на модуль
≈150часов
в уроках по 15 минут
≈20месяцев
≈10месяцев
≈5месяцев
до конца всего курса
- 1
Foundations & Math
Требования и математика, которая понадобится
4 модуля · 41 тема · ≈ 10 ч
- 2
Spatial Kinematics
Где находится каждый сустав и звено
11 модулей · 115 тем · ≈ 29 ч
- 3
Dynamics & Actuation
Силы, моторы и контакт
7 модулей · 72 темы · ≈ 18 ч
- 4
Sensing, Estimation & Software
Что робот чувствует и во что верит
7 модулей · 76 тем · ≈ 19 ч
- 5
Planning & Manipulation
Добраться туда, а затем поднять предмет
13 модулей · 142 темы · ≈ 36 ч
- 6
Mobile Systems & Verification
Колёса, флоты и доказательство, что работает
12 модулей · 121 тема · ≈ 30 ч
- 7
Laboratory & Capstone
Ваш робот — от модели до прототипа
3 модуля · 31 тема · ≈ 8 ч
Месяцы
0481202460123
МесяцыФиниш · ≈ 20 месяцев · ≈ 10 месяцев · ≈ 5 месяцев
Часы и месяцы — оценка: один 15-минутный урок на тему, каждый день.
Каждый модуль.Каждая тема.
Названия модулей и тем остаются на английском — на этом языке говорит отрасль.
Этап 1
Foundations & Math
Требования и математика, которая понадобится
4 модуля · 41 тема
1Foundations of Robotics Engineering9 тем
- Robots as Embodied Computational Systems
- Sensing, Decision, Action, and Physical Feedback
- Robot Autonomy and Levels of Task Responsibility
- Manipulation, Mobility, and Physical Interaction
- Robot State, Configuration, Action, and Observation
- Model-Based and Data-Driven Approaches to Robotics
- The Relationship Between Robot Hardware and Algorithms
- Robot Capability, Performance, and Operating Conditions
- The Robotics Engineering Development Lifecycle
2Robot Tasks and Engineering Requirements11 тем
- Translating an Application into a Robot Task
- Defining Task Inputs, Outputs, and Success Conditions
- Describing Objects, Environments, and Disturbances
- Functional and Performance Requirements
- Reach, Payload, Speed, and Precision Requirements
- Duty Cycles and Mission Duration
- Operating Envelopes and Environmental Constraints
- Expected Variability and Exceptional Conditions
- Allocating Error, Timing, and Reliability Budgets
- Requirement Traceability and Acceptance Criteria
- Evaluating Whether a Task Is Physically Feasible
3Robot Architecture and Interface Design10 тем
- Functional Decomposition of a Robotic System
- Mechanical, Electrical, Computational, and Data Interfaces
- Separating Sensing, Estimation, Planning, and Execution
- Centralized and Distributed Robot Architectures
- Hardware Abstraction and Replaceable Components
- Command Ownership and Authority Boundaries
- State Feedback and Component Health Interfaces
- Interface Units, Coordinate Frames, and Conventions
- Startup, Shutdown, and Operating Modes
- Architecture Tradeoffs Across Cost, Capability, and Complexity
4Mathematical and Computational Tools for Robotics11 тем
- Vectors, Bases, and Coordinate Representations
- Matrix Operations in Robot Models
- Linear Systems and Least-Squares Solutions
- Rank, Null Spaces, and Singular Value Decomposition
- Derivatives, Gradients, and Jacobians
- Ordinary Differential Equations and State Evolution
- Numerical Integration and Discretization Error
- Constrained Optimization for Robot Problems
- Probability, Covariance, and Measurement Uncertainty
- Numerical Conditioning, Scaling, and Floating-Point Error
- Units and Dimensional Consistency in Robot Calculations
Этап 2
Spatial Kinematics
Где находится каждый сустав и звено
11 модулей · 115 тем
5Robot Mechanisms and Degrees of Freedom10 тем
- Links, Joints, and Kinematic Chains
- Revolute, Prismatic, Helical, and Compound Joints
- Serial, Parallel, and Hybrid Mechanisms
- Joint Coordinates and Independent Motion Variables
- Degrees of Freedom and Mechanism Mobility
- Mobility Counting and Its Assumptions
- Actuated, Passive, and Underactuated Coordinates
- Open Chains, Closed Loops, and Kinematic Trees
- Joint Limits and Mechanical Motion Constraints
- Mechanism Selection from Task Requirements
6Coordinate Frames and Spatial Transformations10 тем
- World, Base, Joint, Tool, Sensor, and Object Frames
- Right-Handed Coordinate Systems and Axis Conventions
- Expressing Points and Vectors in Different Frames
- Active Transformations and Passive Coordinate Changes
- Rotation and Translation as Distinct Operations
- Homogeneous Transformation Matrices
- Transformation Composition and Order Dependence
- Inverting Rigid Transformations
- Frame Trees and Transformation Chains
- Detecting Frame, Sign, and Unit Errors
7Representing Orientation in Three Dimensions11 тем
- Rotation Matrices and Their Constraints
- Euler Angles and Rotation Sequences
- Roll, Pitch, Yaw, and Convention Ambiguities
- Axis-Angle Representations
- Unit Quaternions and Quaternion Composition
- Quaternion Sign Ambiguity and Normalization
- Converting Between Orientation Representations
- Gimbal Lock and Representation Singularities
- Orientation Error and Rotation Distance
- Interpolating Orientations Along a Motion
- Averaging and Comparing Noisy Orientation Estimates
8Rigid-Body Motion and Screw Coordinates9 тем
- The Rotation Group SO(3)
- The Rigid-Motion Group SE(3)
- Skew-Symmetric Matrices and Cross Products
- Angular Velocity in Moving and Fixed Frames
- Twists and Instantaneous Rigid-Body Motion
- Screw Axes, Pitch, and Joint Motion
- Exponential and Logarithmic Maps for Robot Poses
- Adjoint Transformations of Spatial Motion
- Consistent Spatial and Body Coordinate Conventions
9Configuration Spaces and Robot Workspaces10 тем
- Joint Space, Task Space, and Operational Coordinates
- Configuration Space Dimension and Topology
- Periodic Coordinates and Angular Wraparound
- Position Tasks and Full-Pose Tasks
- Reachable and Dexterous Workspaces
- Workspace Boundaries and Internal Exclusions
- Joint Limits as Configuration Constraints
- Holonomic and Nonholonomic Constraints
- Task Constraints as Lower-Dimensional Configuration Sets
- Numerical Workspace Exploration and Visualization
10Forward Kinematics11 тем
- Building a Kinematic Model from a Mechanism
- Planar Manipulator Forward Kinematics
- Spatial Serial-Chain Forward Kinematics
- Assigning Link Frames Consistently
- Standard and Modified Denavit-Hartenberg Conventions
- Product-of-Exponentials Kinematic Models
- Space-Frame and Body-Frame Formulations
- Tool Offsets and Additional Fixed Transforms
- Kinematics of Branched Robot Models
- Evaluating Intermediate Link Poses
- Validating Forward Kinematics Against Geometry and Measurements
11Geometric and Analytical Inverse Kinematics10 тем
- Formulating Position and Orientation Goals
- Geometric Solutions for Planar Arms
- Reachability Tests Before Solving
- Multiple Inverse-Kinematics Solutions
- Elbow, Shoulder, and Wrist Configuration Branches
- Kinematic Decoupling for Suitable Robot Structures
- Joint Limits and Admissible Solutions
- Selecting Solutions Relative to a Starting Configuration
- Maintaining Solution Continuity Along a Path
- Recognizing Structures Without Practical Closed-Form Solutions
12Numerical and Constrained Inverse Kinematics12 тем
- Defining Pose Residuals for Numerical Solvers
- Iterative Linearization of Kinematic Equations
- Newton and Gauss-Newton Solution Strategies
- Pseudoinverse Updates and Damped Least Squares
- Weighting Position and Orientation Errors
- Initial Guesses, Multiple Starts, and Local Minima
- Joint Bounds and Inequality Constraints
- Orientation Cones and Partial-Pose Constraints
- Collision-Aware Inverse Kinematics
- Posture Preferences and Secondary Objectives
- Convergence Criteria and Failure Diagnostics
- Evaluating Solver Robustness Across Target Sets
13Differential Kinematics and Jacobians11 тем
- Mapping Joint Rates to End-Effector Velocity
- Geometric and Analytical Jacobians
- Constructing Jacobians from Joint Axes
- Space Jacobians and Body Jacobians
- Transforming Jacobians Between Frames
- Translational and Rotational Task Jacobians
- Jacobians for Intermediate Links and Contact Points
- Differential Inverse Kinematics
- Joint Acceleration and End-Effector Acceleration
- Jacobian Time Derivatives
- Checking Jacobians with Numerical Differentiation
14Singularities, Redundancy, and Dexterity11 тем
- Kinematic Singularities and Rank Loss
- Workspace-Boundary and Internal Singularities
- Velocity Amplification Near Singular Configurations
- Manipulability Ellipsoids and Their Interpretation
- Task Scaling and Dimensionally Consistent Dexterity Metrics
- Condition Numbers as Configuration Diagnostics
- Redundant Robots and Self-Motion
- Null-Space Motion and Task Preservation
- Joint Centering and Joint-Limit Avoidance
- Task Priorities and Conflicting Objectives
- Planning Motions Through Regions of Poor Dexterity
15Closed-Chain and Parallel Robot Kinematics10 тем
- Loop-Closure Equations
- Independent and Dependent Joint Coordinates
- Forward and Inverse Problems in Parallel Mechanisms
- Assembly Modes and Working Modes
- Constraint Jacobians and Admissible Motion
- Serial and Parallel Singularities
- Workspace Restrictions from Loop Closure
- Kinematics of Mechanically Coupled Arms
- Numerical Solution of Closed-Chain Constraints
- Maintaining Constraint Consistency During Motion
Этап 3
Dynamics & Actuation
Силы, моторы и контакт
7 модулей · 72 темы
16Robot Statics and Force Transmission9 тем
- Forces, Moments, and Spatial Wrenches
- Wrench Transformation Between Coordinate Frames
- Static Equilibrium of Robot Links
- Virtual Work and Generalized Forces
- Mapping End-Effector Wrenches to Joint Torques
- Gravity Loads and Configuration Dependence
- Force Transmission and Mechanical Advantage
- Joint Torque Limits and Feasible Tool Wrenches
- Interpreting Force Capability Near Singularities
17Rigid-Body Dynamics for Robots11 тем
- Mass, Center of Mass, and Inertia Tensors
- Expressing Inertia in Different Coordinate Frames
- The Parallel-Axis Theorem in Robot Models
- Linear and Angular Momentum
- Kinetic and Potential Energy
- Newton-Euler Equations for a Rigid Body
- Generalized Coordinates and the Lagrangian
- Configuration-Dependent Inertia
- Coriolis, Centrifugal, and Gravity Effects
- External Forces and Generalized Joint Loads
- Energy and Momentum Checks for Dynamic Models
18Manipulator Dynamics and Computational Algorithms11 тем
- The Manipulator Equation of Motion
- Deriving Dynamics for a Simple Robot Arm
- Interpreting the Joint-Space Mass Matrix
- Inverse Dynamics and Required Joint Effort
- Recursive Newton-Euler Computation
- Forward Dynamics and Motion Prediction
- Efficient Inertia and Forward-Dynamics Algorithms
- Task-Space Dynamic Relationships
- Dynamics with Kinematic Constraints
- Payload and Tool Contributions to Robot Dynamics
- Comparing Rigid-Body Models with Measured Motion
19Actuation and Joint Capability Models11 тем
- Position, Velocity, Torque, and Effort Interfaces
- Motor-Side and Joint-Side Quantities
- Gear Ratios and Reflected Inertia
- Torque-Speed Envelopes and Power Limits
- Continuous and Peak Joint Ratings
- Transmission Efficiency and Backdrivability
- Joint Friction, Stiction, and Dead Zones
- Backlash and Hysteresis in Robot Motion
- Series Elasticity and Joint Deflection
- Thermal Derating and Duty-Cycle Constraints
- Translating Joint Capabilities into Task Feasibility
20Robot Accuracy, Compliance, and Error Budgets9 тем
- Accuracy, Precision, Repeatability, and Resolution
- Sources of End-Effector Position and Orientation Error
- Propagating Joint Errors Through Kinematics
- Geometric Error and Nongeometric Error
- Link, Joint, and Mounting Compliance
- Cartesian Stiffness and Configuration Dependence
- Payload Deflection and Tool Compliance
- Thermal Drift and Time-Dependent Accuracy
- Allocating and Verifying a Robot Error Budget
21Motion Commands and Tracking Behavior11 тем
- Joint-Space and Cartesian Command Interfaces
- Position Setpoints and Time-Indexed Trajectories
- Velocity Commands and Integrated Motion
- Effort Commands and Gravity Compensation Interfaces
- Feedforward Terms from a Robot Model
- Feedback Tracking in the Robot Execution Chain
- Tracking Error, Lag, Overshoot, and Settling
- Command Saturation and Rate Limits
- Matching Trajectory Demands to Tracking Capability
- Switching Motion Modes Without Command Discontinuities
- Measuring Tracking Performance Under Changing Loads
22Contact Behavior and Force Interfaces10 тем
- Free Motion and Constrained Motion
- Choosing Position, Force, or Compliance Objectives
- Contact Frames and Task Direction Selection
- Direct Force Commands and Force Feedback
- Impedance as a Motion-to-Force Relationship
- Admittance as a Force-to-Motion Relationship
- Selecting Apparent Stiffness and Damping for a Task
- Combining Motion and Force Objectives in Different Directions
- Contact Transitions, Delays, and Unwanted Oscillation
- Evaluating Contact Behavior Against Task Limits
Этап 4
Sensing, Estimation & Software
Что робот чувствует и во что верит
7 модулей · 76 тем
23Robot Sensing and Measurement Interfaces11 тем
- Proprioceptive and Exteroceptive Measurements
- Joint Position and Velocity Measurements
- Encoders, Index References, and Homing Information
- Torque Sensors and Motor-Current-Based Effort Estimates
- Force-Torque Sensors and Load Measurement
- Inertial Measurements and Their Reference Frames
- Contact, Proximity, and Tactile Signals
- Range and Pose Measurements as Robot Inputs
- Sensor Resolution, Bandwidth, and Latency
- Bias, Drift, Noise, Saturation, and Missing Data
- Measurement Timestamps, Units, and Validity Flags
24Robot State Estimation and Uncertainty11 тем
- Choosing State Variables for a Robot Task
- Process Models and Measurement Models
- Prediction and Measurement Correction
- Propagating State and Measurement Covariance
- Combining Measurements with Different Uncertainties
- Kalman Filtering for Simple Robot State Models
- Local Linearization for Nonlinear Robot Estimation
- Observability and Unmeasured State Components
- Innovation Checks and Outlier Rejection
- Delayed, Intermittent, and Asynchronous Measurements
- Relating Estimation Uncertainty to Motion Decisions
25Robot Calibration and Parameter Identification12 тем
- Calibration Objectives and Reference Measurements
- Joint Zero Offsets and Encoder Scale Factors
- Geometric and Kinematic Parameter Calibration
- Tool Center Point Calibration
- Base-to-World Frame Calibration
- Sensor-to-Robot Extrinsic Calibration
- Hand-Eye Calibration from Robot and Sensor Motions
- Force-Torque Sensor Bias and Tool-Weight Compensation
- Payload Mass and Center-of-Mass Identification
- Identifying Friction and Dynamic Parameters
- Excitation, Identifiability, and Parameter Correlation
- Independent Validation and Calibration Drift Detection
26World Models and Perception Interfaces10 тем
- Representing Objects, Surfaces, and Free Space
- Geometric and Semantic World Information
- Object Identity, Pose, Shape, and Uncertainty
- Consuming Detections and Pose Estimates from Perception Systems
- Converting Sensor Observations into Robot Frames
- Maintaining Object State Across Observations
- Occlusion, Ambiguity, and Unknown Space
- Observation Freshness and World-Model Consistency
- Task-Relevant Affordances and Interaction Properties
- Requesting Additional Observations Before Acting
27Robot Descriptions and Software Structure11 тем
- Robot Description Files and Kinematic Model Data
- Joint Types, Limits, and Transmission Metadata
- Visual, Collision, and Inertial Representations
- Robot State Publishers and Frame Transform Services
- Driver, Model, Planning, and Task Software Boundaries
- Typed Interfaces for Robot Commands and Observations
- Configuration, Parameters, and Model Versioning
- Component Lifecycle and Dependency Management
- Simulation and Hardware Interface Compatibility
- Namespaces and Multiple Robot Instances
- Automated Consistency Checks for Robot Descriptions
28Communication, Timing, and Data Flow10 тем
- Publish-Subscribe, Request-Response, and Action Interfaces
- Streaming Measurements and Long-Running Robot Commands
- Message Delivery, Ordering, and Queue Behavior
- Sampling Rates and Processing Rates
- Clock Sources and Clock Synchronization
- Timestamp Alignment and Motion Compensation
- Latency, Jitter, and Deadline Budgets
- Buffering, Backpressure, and Stale Data
- Command Timeouts and Communication Loss
- Recording and Replaying Time-Aligned Robot Data
29Robot Simulation and Model Fidelity11 тем
- Kinematic Simulation and Dynamic Simulation
- Building a Robot and Environment Simulation
- Physics Time Steps and Numerical Solver Settings
- Rigid Contact, Compliant Contact, and Friction Models
- Joint Limits, Actuation Limits, and Transmission Models
- Simulating Sensor Noise, Delay, and Dropout
- Initialization and Physically Consistent Robot States
- Deterministic Replay and Sources of Nondeterminism
- Choosing Model Fidelity for a Specific Question
- Comparing Simulation Results with Physical Measurements
- Identifying and Reducing the Simulation-to-Reality Gap
Этап 5
Planning & Manipulation
Добраться туда, а затем поднять предмет
13 модулей · 142 темы
30Robot Geometry and Collision Checking11 тем
- Geometric Primitives, Meshes, and Convex Approximations
- Choosing Collision Geometry Independently of Visual Detail
- Broad-Phase and Narrow-Phase Collision Detection
- Self-Collision and Environment Collision
- Distance Queries and Closest-Point Information
- Signed Distance Representations
- Robot Padding and Clearance Margins
- Discrete and Continuous Collision Checking
- Attached Objects and Changing Robot Geometry
- Allowed Contacts and Contact-State-Dependent Collision Rules
- Checking Swept Motion Between Sampled Configurations
31Motion Planning and Graph Search11 тем
- Defining Start States, Goal Sets, and Feasibility Constraints
- Paths, Trajectories, and Executable Motions
- Configuration-Space Obstacles
- Free-Space Connectivity and Narrow Passages
- Configuration-Space Metrics and Interpolation
- Grid and Lattice Representations
- Dijkstra Search and A* Search for Robot Paths
- Heuristics, Search Resolution, and Computational Cost
- Path Length, Clearance, and Task-Specific Objectives
- Completeness, Optimality, and Practical Planning Limits
- Validating a Planned Path Before Execution
32Sampling-Based Motion Planning11 тем
- Configuration Sampling and Feasibility Tests
- Nearest-Neighbor Search in Robot Configuration Spaces
- Local Connections and Steering Functions
- Probabilistic Roadmaps for Repeated Queries
- Rapidly Exploring Random Trees for Single Queries
- Bidirectional Tree Search and Connection Strategies
- Optimal Sampling-Based Planning Variants
- Goal Biasing and Informed Sampling
- Sampling Under Task and Kinematic Constraints
- Narrow-Passage Strategies and Planner Failure Analysis
- Path Simplification, Shortcutting, and Revalidation
33Optimization for Constrained Robot Motion12 тем
- Motion Planning as a Constrained Optimization Problem
- Waypoint, Spline, and Direct-Trajectory Parameterizations
- Smoothness, Effort, Clearance, and Duration Objectives
- Joint, Pose, and Workspace Constraints
- Collision-Distance Constraints and Their Approximation
- Gradients and Automatic Differentiation in Robot Models
- Initialization from Geometric or Sampling-Based Paths
- Local Minima and Infeasible Initial Guesses
- Sequential Convex Approximation of Motion Problems
- Including Dynamic Feasibility in Trajectory Optimization
- Scaling Variables and Checking Solver Residuals
- Independently Validating Optimized Motions
34Trajectory Generation and Time Parameterization12 тем
- Path Geometry and Time Laws
- Point-to-Point Joint Trajectories
- Cubic and Quintic Polynomial Motion Profiles
- Trapezoidal Velocity and Jerk-Limited Profiles
- Cartesian Position and Orientation Trajectories
- Via Points, Splines, and Segment Blending
- Synchronizing Motion Across Multiple Joints
- Velocity, Acceleration, Jerk, and Torque Constraints
- Time Scaling Along a Prescribed Path
- Retiming Paths After Planning or Payload Changes
- Stopping and Resuming a Trajectory Continuously
- Sampling Trajectories for the Robot Command Interface
35Online Replanning and Motion Execution11 тем
- Connecting a Planner to a Motion Executor
- Execution Progress and Tracking Tolerances
- Reconciling Planned State with Measured State
- Moving Obstacles and Time-Dependent Constraints
- Prediction Horizons and Environment Uncertainty
- Replanning Triggers and Update Frequency
- Preserving Continuity When Replacing a Trajectory
- Delayed Plans and Invalidated Planning Assumptions
- Feasible Stopping and Retreat Motions
- Handling Planner Timeouts and Unreachable Goals
- Monitoring Execution Until Task Completion
36Contact Mechanics and Object Interaction10 тем
- Contact Points, Normals, and Tangential Directions
- Unilateral Contact and Nonpenetration
- Static and Kinetic Friction
- Friction Cones and Polyhedral Approximations
- Sticking, Sliding, Rolling, and Separation
- Contact Compliance and Local Deformation
- Multiple Contacts and Contact Mode Combinations
- Quasistatic and Dynamic Interaction Models
- Impact, Impulse, and Changes in Velocity
- Contact Complementarity and Numerical Difficulties
37End-Effectors and Grasp Geometry11 тем
- Choosing an End-Effector from Object and Task Properties
- Parallel-Jaw, Suction, and Multifinger Grippers
- Rigid, Compliant, and Underactuated Gripping Structures
- Jaw Stroke, Finger Geometry, and Object Accessibility
- Contact Surfaces and Material Compatibility
- Grasp Frames, Approach Directions, and Pregrasp Poses
- Geometric Grasp Candidates from Object Models
- Antipodal Grasp Geometry
- Reachability and Collision Checks for Candidate Grasps
- Tool Mounting, Payload, and Utility Interfaces
- Confirming Object Acquisition with Available Measurements
38Grasp Mechanics and Stability10 тем
- Contact Forces and Object Wrench Balance
- Grasp Matrices and Contact Wrench Spaces
- Form Closure and Force Closure
- Internal Grasp Forces and Net Object Motion
- Friction Requirements for Stable Holding
- Gripper Effort Limits and Object Damage Limits
- Gravity and Inertial Loads During Object Transport
- Grasp Quality Metrics and Their Assumptions
- Robustness to Pose, Friction, and Shape Uncertainty
- Slip Detection and Grasp Adjustment
39Manipulation Motion Planning11 тем
- Planning a Complete Acquire-Move-Release Sequence
- Coordinating Grasp Choice with Arm Configuration
- Approach and Retreat Path Constraints
- Transporting Objects with Orientation Restrictions
- Object Placement and Support Stability
- Regrasping and Intermediate Placement Choices
- Manipulation in Clutter and Restricted Spaces
- Using Environmental Supports During Manipulation
- Coordinating Two Arms Around a Shared Object
- Planning Object Handoffs Between Grippers
- Verifying Manipulation Results Before Advancing
40Contact-Rich and Nonprehensile Manipulation11 тем
- Pushing Objects with Controlled Contact Geometry
- Sliding and Pivoting on Supporting Surfaces
- Rolling and Reorienting Objects Through Contact
- Manipulating Hinged and Sliding Objects
- Insertion Tasks and Geometric Alignment
- Jamming, Wedging, and Contact-Induced Failure
- Using Compliance to Accommodate Pose Error
- Contact Search and Incremental Motion Strategies
- Sequencing Contact Modes for a Task
- Monitoring Force and Motion During Interaction
- Recognizing When Rigid-Object Models Are Insufficient
41Task Planning and Motion Planning Integration10 тем
- Task States, Actions, Preconditions, and Effects
- Symbolic Goals and Geometric Requirements
- Decomposing Tasks into Reusable Action Primitives
- Action Dependencies and Ordering Constraints
- Resources, Object Availability, and Tool Requirements
- Connecting Symbolic Actions to Motion Feasibility
- Geometric Failures That Require Task-Level Changes
- Searching Across Grasp, Placement, and Motion Choices
- Planning with Incomplete Task-State Information
- Checking Goal Satisfaction from Physical Evidence
42Behavior Orchestration and Recovery11 тем
- Finite-State Machines for Robot Behavior
- Hierarchical State Machines for Complex Tasks
- Behavior Trees and Reactive Task Execution
- Sequential, Concurrent, and Interruptible Actions
- Action Completion, Failure, and Cancellation Semantics
- Preconditions, Invariants, and Runtime Guards
- Timeouts, Retries, and Bounded Recovery Attempts
- Distinguishing Recoverable and Terminal Failures
- Restoring a Consistent State After Interruption
- Requesting Operator Assistance with Useful Context
- Logging Behavior Transitions for Diagnosis
Этап 6
Mobile Systems & Verification
Колёса, флоты и доказательство, что работает
12 модулей · 121 тема
43Wheeled Robot Kinematic Foundations10 тем
- Planar Mobile-Robot Pose and Body Velocity
- Wheel Rolling Constraints and Slip Assumptions
- Differential-Drive Forward and Inverse Kinematics
- Unicycle Models and Their Physical Interpretation
- Steering Geometry and Minimum Turning Radius
- Omnidirectional and Mecanum Drive Kinematics
- Holonomic and Nonholonomic Motion Capabilities
- Converting Body-Motion Requests into Wheel Commands
- Wheel-Speed Limits and Feasible Base Motions
- Relating Base Geometry to Maneuverability
44Mobile-Robot Odometry and Navigation Interfaces11 тем
- Integrating Wheel Motion into Pose Estimates
- Odometry Error from Wheel Geometry and Slip
- Combining Wheel and Inertial Measurements
- Local Odometry and Global Reference Frames
- Using External Localization Estimates
- Map Representations Needed by Navigation Modules
- Consuming Maps from Mapping and SLAM Systems
- Robot Footprints, Clearance, and Traversability Inputs
- Sending Pose Goals and Receiving Navigation Status
- Pose Uncertainty, Localization Loss, and Goal Tolerances
- Evaluating Base Navigation as a Robot Subsystem
45Mobile Manipulation10 тем
- Kinematic Models of a Base and Attached Arm
- Frames Across the Base, Arm, Tool, and Environment
- Choosing Base Poses for Manipulation Reachability
- Joint Base-Arm Configuration Planning
- Redundancy Across Base and Arm Motion
- Balancing Arm Dexterity and Base Clearance
- Manipulation with Base-Localization Uncertainty
- Base Stability and Payload-Induced Tipping Constraints
- Coordinating Base Motion with Object Transport
- Repositioning When a Manipulation Task Becomes Infeasible
46Coordinated Multi-Robot Systems10 тем
- Task Decomposition Across Multiple Robots
- Shared and Robot-Specific Coordinate Frames
- Common Object and Task-State Representations
- Allocating Tasks According to Robot Capabilities
- Shared Resources and Mutual Exclusion
- Space-Time Conflicts and Coordinated Motion
- Coupled Motion During Cooperative Object Handling
- Synchronization and Communication Delays
- Deadlock, Stalled Tasks, and Reallocation
- Evaluating Cooperation Over a Single-Robot Baseline
47Data-Driven Robotics and Learned Skills12 тем
- Choosing What to Learn Within a Robot Architecture
- Learning Model Parameters and Residual Errors
- Robot Demonstrations and Action Representations
- Imitation Learning for Bounded Robot Skills
- Reward and Objective Definitions for Skill Learning
- Observation, Action, and Timing Contracts for Policies
- Integrating Learned Skills with Explicit Task Logic
- Task Proposals from General-Purpose Models
- Checking Proposed Actions Against Robot Constraints
- Dataset Coverage and Task-Relevant Variation
- Generalization Across Objects, Poses, and Robot Conditions
- Comparing Learned Skills with Model-Based Baselines
48Computational Performance and Resource Budgets9 тем
- End-to-End Latency Through the Robot Software Stack
- Profiling Kinematics, Collision Checking, and Planning
- Choosing Computation Rates for Different Components
- Caching Reusable Geometry and Model Quantities
- Parallel Computation and Shared-State Consistency
- CPU, GPU, Memory, and Communication Tradeoffs
- Deadline Misses and Graceful Performance Degradation
- Energy and Thermal Budgets for Onboard Computation
- Measuring Performance Under Realistic System Load
49Experimental Design and Robot Performance Evaluation11 тем
- Turning Engineering Questions into Experiments
- Selecting Representative Tasks and Test Conditions
- Position, Orientation, Path, and Timing Metrics
- Task Success, Completion Time, and Intervention Rate
- Repeated Trials and Sources of Variability
- Ground Truth, Reference Instruments, and Measurement Error
- Reporting Distributions and Confidence Intervals
- Sensitivity Studies and Controlled Ablation Experiments
- Separating Component Performance from System Performance
- Benchmark Comparability and Reproducible Test Conditions
- Interpreting Failures Alongside Aggregate Metrics
50Robot Software and Model Verification11 тем
- Testing Transformation and Kinematic Consistency
- Round-Trip Checks for Forward and Inverse Kinematics
- Comparing Analytical and Numerical Derivatives
- Checking Dynamics Through Physical Invariants
- Detecting Invalid Inertial and Geometric Parameters
- Testing Collision Models with Known Geometric Cases
- Verifying Trajectory Bounds and Continuity
- Exercising Behavior Logic with Simulated Events
- Fault Injection for Sensor and Communication Errors
- Software-in-the-Loop and Hardware-in-the-Loop Testing
- Regression Tests Across Robot Model and Software Changes
51System Integration and Prototype Commissioning10 тем
- Integration Plans and Subsystem Entry Criteria
- Checking Mechanical Assembly Against the Robot Model
- Verifying Joint Direction, Scale, and Limits
- Bringing Up Sensors and Checking Frame Alignment
- Establishing Reliable State and Command Communication
- Moving from Individual Joints to Coordinated Motion
- Introducing Tools, Payloads, and Contact Tasks Progressively
- Diagnosing Interface Mismatches Across Subsystems
- Validating Complete Task Sequences on Hardware
- Recording Acceptance Evidence and Open Limitations
52Fault Diagnosis and Robot Health Monitoring10 тем
- Organizing Faults by Observable Symptoms
- Separating Model, Measurement, Planning, and Hardware Faults
- Expected-State Residuals and Diagnostic Signals
- Detecting Friction Changes and Mechanical Wear
- Identifying Encoder, Calibration, and Frame Errors
- Recognizing Timing and Communication Faults
- Monitoring Temperature, Current, and Repeated Saturation
- Detecting Grasp and Tool-Interaction Failures
- Preserving Logs and Reconstructing Failure Sequences
- Maintenance Triggers and Post-Maintenance Validation
53Essential Safe Robot Operation8 тем
- Recognizing Motion, Pinch, Impact, and Stored-Energy Hazards
- Defining Test Boundaries and Permitted Operating Modes
- Understanding Stop Functions and Their Limitations
- Joint, Speed, Effort, and Workspace Limits
- Reduced-Energy Testing and Supervised Initial Motion
- Preventing Unexpected Motion During Setup and Restart
- Handling Tools, Payloads, and Stored Energy During Servicing
- Assigning Stop Authority and Incident Reporting Responsibilities
54Engineering Documentation and Reproducibility9 тем
- Robot Model and Coordinate-Frame Documentation
- Interface Specifications and Command Semantics
- Recording Hardware, Firmware, and Software Configurations
- Calibration Records and Parameter Provenance
- Experiment Manifests and Dataset Organization
- Design Decisions, Assumptions, and Known Limitations
- Reproducible Simulation and Hardware Test Procedures
- Operating, Recovery, and Maintenance Instructions
- Change Review and Revalidation After System Updates
Этап 7
Laboratory & Capstone
Ваш робот — от модели до прототипа
3 модуля · 31 тема
55Foundation Laboratory Projects10 тем
- Building and Visualizing a Complete Robot Frame Tree
- Modeling a Planar Arm and Mapping Its Workspace
- Implementing Forward Kinematics for a Spatial Manipulator
- Comparing Analytical and Numerical Inverse Kinematics
- Investigating Singularities and Redundant Motion
- Measuring Joint Errors and End-Effector Repeatability
- Identifying a Tool Transform from Measurements
- Predicting Joint Loads for Different Robot Configurations
- Validating a Dynamic Model with Recorded Motion
- Integrating Timestamped Measurements into a Robot State Estimate
56Planning and Manipulation Laboratory Projects10 тем
- Constructing and Testing a Robot Collision Model
- Comparing Graph, Sampling, and Optimization Planners
- Generating Motions Under Joint and Torque Limits
- Replanning After a Simulated Environment Change
- Evaluating Grasp Candidates for a Set of Objects
- Executing an Acquire-Transport-Place Task
- Performing a Constrained Contact-Manipulation Task
- Integrating a Mobile Base with a Manipulator Model
- Building Task Logic with Recovery from Injected Failures
- Comparing Simulated and Physical Task Performance
57Integrated Robotics Engineering Project11 тем
- Defining a Complete Robot Task and Acceptance Criteria
- Selecting an Architecture and Establishing System Interfaces
- Building and Validating the Robot Model
- Establishing Sensing, Frames, and Calibration
- Developing Motion and Manipulation Capabilities
- Implementing Task Execution and Failure Recovery
- Integrating the System in Simulation
- Commissioning a Physical Prototype Within Test Limits
- Evaluating Performance Across Representative Conditions
- Investigating Failures and Revising the Design
- Delivering Reproducible Results and Engineering Documentation
Пятнадцать минут.Каждый день.
- 1
Урок влезает в обеденный перерыв
По одной мысли за раз, на коротких слайдах. Весь урок — около пятнадцати минут.
- 2
Практика с мгновенной обратной связью
Вопросы — внутри урока. Отвечаете и сразу видите, получилось ли.
- 3
Стрик, который возвращает вас снова
Урок в день держит стрик. Короткие регулярные занятия доводят до конца курса.
- 1
Урок влезает в обеденный перерыв
По одной мысли за раз, на коротких слайдах. Весь урок — около пятнадцати минут.
- 2
Практика с мгновенной обратной связью
Вопросы — внутри урока. Отвечаете и сразу видите, получилось ли.
- 3
Стрик, который возвращает вас снова
Урок в день держит стрик. Короткие регулярные занятия доводят до конца курса.
Железячники, программисты — и те, и другие.
Инженеры-механики, уходящие в робототехнику
Где вы вырастете сильнее всего
Объединяйте сенсоры в надёжную оценку состояния
Этап 4 · Sensing, Estimation & SoftwareПрограммисты, переходящие в железо
Где вы вырастете сильнее всего
Моделируйте динамику, момент и контактные силы
Этап 3 · Dynamics & ActuationМейкеры, которым стало тесно в наборе
Где вы вырастете сильнее всего
Интегрируйте и вводите в строй рабочий прототип
Этап 6 · Mobile Systems & Verification
Куда ведёт этот курс.
Работа, вокруг которой построен курс, и как в неё попадают.
Robotics Engineer
Проектирует роботов, которые воспринимают, решают и двигаются, и делает их надёжными за пределами лаборатории.
Все карьеры будущегоВ работе
- Интегрировать датчики, моторы и управляющий софт
- Настраивать регулятор, пока движение не станет плавным и безопасным
- Отлаживать робота, который работает в симуляции, но не в цеху
Как туда попадают
Обычно — диплом по машиностроению, электротехнике или компьютерной инженерии.
Будьте первыми в очереди.
Ранний доступ — для частных лиц, пилот — для команд. Расскажите, кто у вас учится.
enterprise@astratrainer.com