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1

## Chapter 10: Motion Planning (Part 1 of 2)

5 個視頻 （總計 24 分鐘）, 3 個閱讀材料, 7 個測驗
5 個視頻
C-Space Obstacles (Chapter 10.2.1)4分鐘
Graphs and Trees (Chapter 10.2.3)2分鐘
Graph Search (Chapter 10.2.4)9分鐘
Complete Path Planners (Chapter 10.3)3分鐘
3 個閱讀材料
Welcome to Course 4, Robot Motion Planning and Control10分鐘
How to Make This Course Successful5分鐘
Chapter 10 through 10.31 小時 30 分
6 個練習
Lecture Comprehension, Overview of Motion Planning (Chapter 10.1)30分鐘
Lecture Comprehension, C-Space Obstacles (Chapter 10.2.1)30分鐘
Lecture Comprehension, Graphs and Trees (Chapter 10.2.3)30分鐘
Lecture Comprehension, Graph Search (Chapter 10.2.4)30分鐘
Lecture Comprehension, Complete Path Planners (Chapter 10.3)30分鐘
Chapter 10 through 10.3, Motion Planning15分鐘
2

## Chapter 10: Motion Planning (Part 2 of 2)

5 個視頻 （總計 25 分鐘）, 1 個閱讀材料, 7 個測驗
5 個視頻
Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)3分鐘
Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)7分鐘
Virtual Potential Fields (Chapter 10.6)5分鐘
Nonlinear Optimization (Chapter 10.7)5分鐘
1 個閱讀材料
Chapter 10.4 through 10.72小時
6 個練習
Lecture Comprehension, Grid Methods for Motion Planning (Chapter 10.4)30分鐘
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 1 of 2)30分鐘
Lecture Comprehension, Sampling Methods for Motion Planning (Chapter 10.5, Part 2 of 2)30分鐘
Lecture Comprehension, Virtual Potential Fields (Chapter 10.6)30分鐘
Lecture Comprehension, Nonlinear Optimization (Chapter 10.7)30分鐘
Chapter 10.4 through 10.7, Motion Planning30分鐘
3

## Chapter 11: Robot Control (Part 1 of 2)

8 個視頻 （總計 33 分鐘）, 1 個閱讀材料, 9 個測驗
8 個視頻
Error Response (Chapter 11.2.1)2分鐘
Linear Error Dynamics (Chapter 11.2.2)4分鐘
First-Order Error Dynamics (Chapter 11.2.2.1)1分鐘
Second-Order Error Dynamics (Chapter 11.2.2.2)5分鐘
Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)4分鐘
Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)6分鐘
Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)4分鐘
1 個閱讀材料
Chapter 11 through 11.32小時
9 個練習
Lecture Comprehension, Control System Overview (Chapter 11.1)30分鐘
Lecture Comprehension, Error Response (Chapter 11.2.1)30分鐘
Lecture Comprehension, Linear Error Dynamics (Chapter 11.2.2)30分鐘
Lecture Comprehension, First-Order Error Dynamics (Chapter 11.2.2.1)30分鐘
Lecture Comprehension, Second-Order Error Dynamics (Chapter 11.2.2.2)30分鐘
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 1 of 3)30分鐘
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 2 of 3)30分鐘
Lecture Comprehension, Motion Control with Velocity Inputs (Chapter 11.3, Part 3 of 3)30分鐘
Chapter 11 through 11.3, Robot Control1小時
4

## Chapter 11: Robot Control (Part 2 of 2)

5 個視頻 （總計 25 分鐘）, 1 個閱讀材料, 6 個測驗
5 個視頻
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)5分鐘
Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)7分鐘
Force Control (Chapter 11.5)2分鐘
Hybrid Motion-Force Control (Chapter 11.6)5分鐘
1 個閱讀材料
Chapter 11.4 through 11.62小時
6 個練習
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 1 of 3)30分鐘
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 2 of 3)30分鐘
Lecture Comprehension, Motion Control with Torque or Force Inputs (Chapter 11.4, Part 3 of 3)30分鐘
Lecture Comprehension, Force Control (Chapter 11.5)30分鐘
Lecture Comprehension, Hybrid Motion-Force Control (Chapter 11.6)30分鐘
Chapter 11.4 through 11.6, Robot Control30分鐘