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1

## Chapter 12: Grasping and Manipulation (Part 1 of 2)

7 個視頻 （總計 33 分鐘）, 3 個閱讀材料, 9 個測驗
7 個視頻
First-Order Analysis of a Single Contact (Chapter 12.1.1)4分鐘
Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)5分鐘
Multiple Contacts (Chapter 12.1.3)4分鐘
Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)4分鐘
Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)4分鐘
Form Closure (Chapter 12.1.7)4分鐘
3 個閱讀材料
Welcome to Course 5, Robot Manipulation and Wheeled Mobile Robots10分鐘
How to Make This Course Successful5分鐘
Chapter 12 through 12.12小時
8 個練習
Lecture Comprehension, Grasping and Manipulation (Chapter 12)30分鐘
Lecture Comprehension, First-Order Analysis of a Single Contact (Chapter 12.1.1)30分鐘
Lecture Comprehension, Contact Types: Rolling, Sliding, and Breaking (Chapter 12.1.2)30分鐘
Lecture Comprehension, Multiple Contacts (Chapter 12.1.3)30分鐘
Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 1 of 2)30分鐘
Lecture Comprehension, Planar Graphical Methods (Chapter 12.1.6, Part 2 of 2)30分鐘
Lecture Comprehension, Form Closure (Chapter 12.1.7)30分鐘
Chapter 12 through 12.1, Grasping and Manipulation1小時
2

## Chapter 12: Grasping and Manipulation (Part 2 of 2)

6 個視頻 （總計 26 分鐘）, 1 個閱讀材料, 8 個測驗
6 個視頻
Planar Graphical Methods (Chapter 12.2.2)4分鐘
Force Closure (Chapter 12.2.3)4分鐘
Duality of Force and Motion Freedoms (Chapter 12.2.4)3分鐘
Manipulation and the Meter-Stick Trick (Chapter 12.3)5分鐘
Transport of an Assembly (Chapter 12.3)3分鐘
1 個閱讀材料
Chapter 12.2 through 12.31 小時 30 分
7 個練習
Lecture Comprehension, Friction (Chapter 12.2.1)30分鐘
Lecture Comprehension, Planar Graphical Methods (Chapter 12.2.2)30分鐘
Lecture Comprehension, Force Closure (Chapter 12.2.3)30分鐘
Lecture Comprehension, Duality of Force and Motion Freedoms (Chapter 12.2.4)30分鐘
Lecture Comprehension, Manipulation and the Meter-Stick Trick (Chapter 12.3)30分鐘
Lecture Comprehension, Transport of an Assembly (Chapter 12.3)30分鐘
Chapter 12.2 through 12.3, Grasping and Manipulation1 小時 10 分
3

## Chapter 13: Wheeled Mobile Robots (Part 1 of 2)

4 個視頻 （總計 16 分鐘）, 1 個閱讀材料, 5 個測驗
4 個視頻
Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)6分鐘
Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)3分鐘
Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)5分鐘
1 個閱讀材料
Chapter 13 through 13.3.12小時
5 個練習
Lecture Comprehension, Wheeled Mobile Robots (Chapter 13.1)30分鐘
Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 1 of 2)30分鐘
Lecture Comprehension, Omnidirectional Wheeled Mobile Robots (Chapter 13.2, Part 2 of 2)30分鐘
Lecture Comprehension, Modeling of Nonholonomic Wheeled Mobile Robots (Chapter 13.3.1)30分鐘
Chapter 13 through 13.3.1, Wheeled Mobile Robots1 小時 15 分
4

## Chapter 13: Wheeled Mobile Robots (Part 2 of 2)

8 個視頻 （總計 43 分鐘）, 1 個閱讀材料, 9 個測驗
8 個視頻
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)6分鐘
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)5分鐘
Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)5分鐘
Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)5分鐘
Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)5分鐘
Odometry (Chapter 13.4)4分鐘
Mobile Manipulation (Chapter 13.5)6分鐘
1 個閱讀材料
Chapter 13.3.2 through 13.52 小時 30 分
9 個練習
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 1 of 4)30分鐘
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 2 of 4)30分鐘
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 3 of 4)30分鐘
Lecture Comprehension, Controllability of Wheeled Mobile Robots (Chapter 13.3.2, Part 4 of 4)30分鐘
Lecture Comprehension, Motion Planning for Nonholonomic Mobile Robots (Chapter 13.3.3)30分鐘
Lecture Comprehension, Feedback Control for Nonholonomic Mobile Robots (Chapter 13.3.4)30分鐘
Lecture Comprehension, Odometry (Chapter 13.4)30分鐘
Lecture Comprehension, Mobile Manipulation (Chapter 13.5)30分鐘
Chapter 13.3.2 through 13.5, Wheeled Mobile Robots1 小時 20 分