課程信息
4.5
61 個評分
17 個審閱
專項課程

第 6 門課程(共 6 門),位於

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立即開始,按照自己的計劃學習。
可靈活調整截止日期

可靈活調整截止日期

根據您的日程表重置截止日期。
完成時間(小時)

完成時間大約為17 小時

建議:6 weeks of study, 2-4 hours/week...
可選語言

英語(English)

字幕:英語(English)...

您將獲得的技能

Python ProgrammingRoboticsRaspberry PiMatlab
專項課程

第 6 門課程(共 6 門),位於

100% online

100% online

立即開始,按照自己的計劃學習。
可靈活調整截止日期

可靈活調整截止日期

根據您的日程表重置截止日期。
完成時間(小時)

完成時間大約為17 小時

建議:6 weeks of study, 2-4 hours/week...
可選語言

英語(English)

字幕:英語(English)...

教學大綱 - 您將從這門課程中學到什麼

1
完成時間(小時)
完成時間為 4 小時

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 個視頻(共 29 分鐘), 2 個閱讀材料, 1 個測驗
Video5 個視頻
Introduction to the Mobile Inverted Pendulum (MIP) Track4分鐘
Introduction to the Autonomous Rover (AR) Track10分鐘
A1.1 Using MATLAB for Dynamic Simulations4分鐘
(Review) Dijkstra's Algorithm4分鐘
Reading2 個閱讀材料
B1.1 Purchasing the Robot Kit10分鐘
B1.2 The Rover Simulator20分鐘
Quiz1 個練習
A1.2 Integrating an ODE with MATLAB30分鐘
2
完成時間(小時)
完成時間為 2 小時

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 個視頻(共 30 分鐘), 7 個閱讀材料, 1 個測驗
Video6 個視頻
(Review) PD Control for a Point Particle in Space5分鐘
A2.1 PD Control for Second-Order Systems6分鐘
(Review) Infinitesimal Kinematics; RR Arm3分鐘
B2.1 Building the Autonomous Rover (AR)1分鐘
B2.6 Connecting to the Pi2分鐘
Reading7 個閱讀材料
B2.2 Soldering tips10分鐘
B2.3 Soldering the Motor Hat and IMU20分鐘
B2.4 Flashing your Raspberry Pi SD Card10分鐘
B2.5 Assembling the Robot40分鐘
B2.7 Expanding the SD Card Partition2分鐘
B2.8 Remote Access to the Pi10分鐘
B2.9 Controlling the Rover10分鐘
Quiz1 個練習
A2.2 PD Tracking分鐘
3
完成時間(小時)
完成時間為 2 小時

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 個視頻(共 37 分鐘), 3 個閱讀材料, 1 個測驗
Video7 個視頻
A3.1 Using an EKF to get Scalar Orientation from an IMU5分鐘
B3.1 Calibration3分鐘
B3.2 Camera Calibration3分鐘
(Review) Rotations and Translations18分鐘
B3.4 Camera to body calibration3分鐘
B3.5 Introduction to Apriltags1分鐘
Reading3 個閱讀材料
B3.3 Motor Calibration15分鐘
B3.6 Printing your own AprilTags10分鐘
B3.7 Optional: IMU Accelerometer Calibration10分鐘
Quiz2 個練習
A3.2 EKF for Scalar Attitude Estimation分鐘
B3.8 Calibration8分鐘
4
完成時間(小時)
完成時間為 2 小時

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 個視頻(共 28 分鐘), 1 個測驗
Video4 個視頻
A4.1 Modeling a Mobile Inverted Pendulum (MIP)2分鐘
(Review) 2-D Quadrotor Control9分鐘
B4.1 Designing a Controller for the Rover7分鐘
Quiz1 個練習
A4.2 Dynamical simulation of a MIP分鐘
4.5
工作福利

83%

通過此課程獲得實實在在的工作福利

熱門審閱

創建者 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.

創建者 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.

講師

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Kostas Daniilidis

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

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

關於 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. ...

關於 Robotics 專項課程

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

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