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Course11210629847 lectures

Wheeled Mobile Robots

Prof. Asokan Thondiyath Prof. Santhakumar Mohan · IITM IIT Palakkad

Start with lecture 1 At NPTEL

Lectures

Week 1

  1. Introduction to Mobile Robots and Manipulators Video
  2. Introduction to Locomotion and Types of Locomotion Video
  3. Introduction to Mobile Robot Kinematics Video
  4. Degree of Maneuverability and Types of Wheels Video
  5. Kinematic Simulation of a Mobile Robot (Land-based) Video
  6. Kinematic Simulation and Motion Animation of a Mobile Robot (Land-based) Video

Week 2

  1. A Generalized Wheel (Kinematic) Model Video
  2. Examples related to the Generalized Wheel (Kinematic) Model Video
  3. Holonomic and Non-holonomic Mobile Robots Video
  4. Kinematic Simulation of Wheeled Mobile Robots Part 1 Video
  5. Kinematic Simulation of Wheeled Mobile Robots Part 2 Video
  6. Kinematic Simulation of Wheeled Mobile Robots Part 3 Video

Week 3

  1. Mobile Robot Dynamics - Part 1 Video
  2. Mobile Robot Dynamics - Part 2 Video
  3. Equation of Motion and Dynamic Simulation of a Mobile Robot Video
  4. Dynamic Models of Wheeled Mobile Robots with Wheel Configurations Video
  5. Kinematic and Dynamic Models of a Mobile base with Four-Independent Steerable Power Wheels Video

Week 4

  1. Sensing and Perception Video
  2. Sensors and Sensing Video
  3. Commonly used sensors 1 Video
  4. Commonly used sensors 2 Video
  5. Commonly used sensors 3 Video
  6. Sensor Errors and Error modelling Video

Week 5

  1. Mobile Robot Localisation Video
  2. Map based Localisation Video
  3. Markov Localisation Video
  4. Kalman Filter Localisation Video
  5. SLAM Video

Week 6

  1. Mobile Robot Navigation Video
  2. Path Planning: Graph Construction Video
  3. Graph Search Methods Video
  4. Path Planning and Obstacle avoidance Video

Week 7

  1. Introduction to Motion Control of Mobile Robots Part 1 Video
  2. Introduction to Motion Control of Mobile Robots Part 2 Video
  3. Kinematic control of Land-based Mobile Robots Video
  4. Simulation of Land-based Mobile Robots along with Kinematic Control Part 1 Video
  5. Simulation of Land-based Mobile Robots along with Kinematic Control Part 2 Video
  6. Simulation of Land-based Mobile Robots along with Kinematic Control Part 3 Video
  7. Dynamic Control of Mobile Robots Video
  8. Cascaded or Back-stepping Control of Mobile Robots Video

Week 8

  1. Modern Robotics and Challenges Video
  2. Multiple Mobile Robotic Systems Video
  3. Autonomous Mobile Robots and Mobile Manipulators Video
  4. Legged and Hybrid Robots Video
  5. Underwater and Aerial Robots Video
  6. Healthcare Robots Video

Live Session

  1. Live Session 24-02-2021 Video

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IITM IIT Palakkad
Department
Mechanical Engineering
Teacher
Prof. Asokan Thondiyath Prof. Santhakumar Mohan
Level
Undergraduate
Language
English
Subjects
Engineering
Source
NPTEL
Licence
CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
Attribution
NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge. Coordinated by IIT Madras.
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