课程信息
4.5
60 个评分
16 个审阅
In our 6 week Robotics Capstone, we will give you a chance to implement a solution for a real world problem based on the content you learnt from the courses in your robotics specialization. It will also give you a chance to use mathematical and programming methods that researchers use in robotics labs. You will choose from two tracks - In the simulation track, you will use Matlab to simulate a mobile inverted pendulum or MIP. The material required for this capstone track is based on courses in mobility, aerial robotics, and estimation. In the hardware track you will need to purchase and assemble a rover kit, a raspberry pi, a pi camera, and IMU to allow your rover to navigate autonomously through your own environment Hands-on programming experience will demonstrate that you have acquired the foundations of robot movement, planning, and perception, and that you are able to translate them to a variety of practical applications in real world problems. Completion of the capstone will better prepare you to enter the field of Robotics as well as an expansive and growing number of other career paths where robots are changing the landscape of nearly every industry. Please refer to the syllabus below for a week by week breakdown of each track. Week 1 Introduction MIP Track: Using MATLAB for Dynamic Simulations AR Track: Dijkstra's and Purchasing the Kit Quiz: A1.2 Integrating an ODE with MATLAB Programming Assignment: B1.3 Dijkstra's Algorithm in Python Week 2 MIP Track: PD Control for Second-Order Systems AR Track: Assembling the Rover Quiz: A2.2 PD Tracking Quiz: B2.10 Demonstrating your Completed Rover Week 3 MIP Track: Using an EKF to get scalar orientation from an IMU AR Track: Calibration Quiz: A3.2 EKF for Scalar Attitude Estimation Quiz: B3.8 Calibration Week 4 MIP Track: Modeling a Mobile Inverted Pendulum (MIP) AR Track: Designing a Controller for the Rover Quiz: A4.2 Dynamical simulation of a MIP Peer Graded Assignment: B4.2 Programming a Tag Following Algorithm Week 5 MIP Track: Local linearization of a MIP and linearized control AR Track: An Extended Kalman Filter for State Estimation Quiz: A5.2 Balancing Control of a MIP Peer Graded Assignment: B5.2 An Extended Kalman Filter for State Estimation Week 6 MIP Track: Feedback motion planning for the MIP AR Track: Integration Quiz: A6.2 Noise-Robust Control and Planning for the MIP Peer Graded Assignment: B6.2 Completing your Autonomous Rover...
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Approx. 16 hours to complete

建议:6 weeks of study, 2-4 hours/week...
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您将获得的技能

Python ProgrammingRoboticsRaspberry PiMatlab
Stacks

Course 6 of 6 in the

Globe

100% 在线课程

立即开始,按照自己的计划学习。
Calendar

可灵活调整截止日期

根据您的日程表重置截止日期。
Clock

Approx. 16 hours to complete

建议:6 weeks of study, 2-4 hours/week...
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English

字幕:English...

教学大纲 - 您将从这门课程中学到什么

Week
1
Clock
完成时间为 4 小时

Week 1

Welcome to Robotics Capstone! This week you will choose between two tracks available to you for your capstone. Please make sure you watch the videos carefully to make the choice. In the MIP track, you will learn how to use MATLAB (your numerical tool for this capstone track) to simulate dynamical systems numerically.In the AR track, you will learn to use the rover simulator, purchase the kit and implement Dijkstra's algorithm in python....
Reading
5 个视频(共 29 分钟), 2 个阅读材料, 1 个测验
Video5 个视频
Introduction to the Mobile Inverted Pendulum (MIP) Track4分钟
Introduction to the Autonomous Rover (AR) Track10分钟
A1.1 Using MATLAB for Dynamic Simulations4分钟
(Review) Dijkstra's Algorithm4分钟
Reading2 个阅读材料
B1.1 Purchasing the Robot Kit10分钟
B1.2 The Rover Simulator20分钟
Quiz1 个练习
A1.2 Integrating an ODE with MATLAB30分钟
Week
2
Clock
完成时间为 2 小时

Week 2

In the MIP track, you will learn a simple control idea that can provably stabilize linear systems: PD control. You will work on some MATLAB exercises that tune parameters for a PD controller in a simple double-integrator (a.k.a force-controlled) system, and also apply this idea to a nonlinear system, a two-DOF manipulator arm. In the AR track, you will assemble your robot, which includes soldering, assembly and flashing your SD card. You will then perform a basic routine to allow the robot to move at a set velocity....
Reading
6 个视频(共 30 分钟), 7 个阅读材料, 1 个测验
Video6 个视频
(Review) PD Control for a Point Particle in Space5分钟
A2.1 PD Control for Second-Order Systems6分钟
(Review) Infinitesimal Kinematics; RR Arm3分钟
B2.1 Building the Autonomous Rover (AR)1分钟
B2.6 Connecting to the Pi2分钟
Reading7 个阅读材料
B2.2 Soldering tips10分钟
B2.3 Soldering the Motor Hat and IMU20分钟
B2.4 Flashing your Raspberry Pi SD Card10分钟
B2.5 Assembling the Robot40分钟
B2.7 Expanding the SD Card Partition2分钟
B2.8 Remote Access to the Pi10分钟
B2.9 Controlling the Rover10分钟
Quiz1 个练习
A2.2 PD Tracking分钟
Week
3
Clock
完成时间为 2 小时

Week 3

In the MIP track, you will learn how to interface with noisy and incomplete sensor data. We will use an extended Kalman filter (EKF): a model-based filtering scheme that optimally integrates incoming data with our current state belief. The particular example you will work on is estimating orientation from data recorded by a MEMS accelerometer/gyroscope. In the AR track, you will perform a set of crucial calibration steps that allow you to use the sensors and motor drivers onboard the rover. ...
Reading
7 个视频(共 37 分钟), 3 个阅读材料, 1 个测验
Video7 个视频
A3.1 Using an EKF to get Scalar Orientation from an IMU5分钟
B3.1 Calibration3分钟
B3.2 Camera Calibration3分钟
(Review) Rotations and Translations18分钟
B3.4 Camera to body calibration3分钟
B3.5 Introduction to Apriltags1分钟
Reading3 个阅读材料
B3.3 Motor Calibration15分钟
B3.6 Printing your own AprilTags10分钟
B3.7 Optional: IMU Accelerometer Calibration10分钟
Quiz2 个练习
A3.2 EKF for Scalar Attitude Estimation分钟
B3.8 Calibration8分钟
Week
4
Clock
完成时间为 2 小时

Week 4

In the MIP track, you will learn how to build a model of the mobile inverted pendulum using a Lagrangian formulation to get equations of motion. This will help you build a simulation of a physical MIP that you can test your control ideas on. In the AR track, you will learn to design a controller that allows the rover to move to any target position when given its pose. You will then use this controller to get the rover to follow an AprilTag that you hold....
Reading
4 个视频(共 28 分钟), 1 个测验
Video4 个视频
A4.1 Modeling a Mobile Inverted Pendulum (MIP)2分钟
(Review) 2-D Quadrotor Control9分钟
B4.1 Designing a Controller for the Rover7分钟
Quiz1 个练习
A4.2 Dynamical simulation of a MIP分钟
4.5
Briefcase

83%

通过此课程获得实实在在的工作福利

热门审阅

创建者 CPSep 25th 2016

The capstone is really good.\n\nToo bad it means the end of this specialization... I liked it here.\n\nBut it is also the beginning of playing more with ROS, simulation tools and real robots.

创建者 AKOct 10th 2017

Enjoyed this challenging course! Thankyou coursera. This Specialization is great for learning concepts but it is not industry oriented. Overall had a great experience.

讲师

Kostas Daniilidis

Professor of Computer and Information Science
School of Engineering and Applied Science

Sid Deliwala

Director, Electrical and Systems Engineering Labs and Lecturer, Electrical and Systems Engineering
Department of Electrical and Systems Engineering

关于 University of Pennsylvania

The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies. ...

关于 Robotics 专项课程

The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects....
Robotics

常见问题

  • Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.

  • When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.

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