About this Course
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Approx. 26 hours to complete

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


Subtitles: English

Skills you will gain

Python ProgrammingRoboticsRaspberry PiMatlab

Course 6 of 6 in the

100% online

Start instantly and learn at your own schedule.

Flexible deadlines

Reset deadlines in accordance to your schedule.

Approx. 26 hours to complete

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


Subtitles: English

Syllabus - What you will learn from this course

20 minutes to complete

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....
3 videos (Total 20 min)
3 videos
Introduction to the Mobile Inverted Pendulum (MIP) Track4m
Introduction to the Autonomous Rover (AR) Track10m
4 hours to complete

Week 1: Lesson Choices

2 videos (Total 9 min), 2 readings, 2 quizzes
2 videos
(Review) Dijkstra's Algorithm4m
2 readings
B1.1 Purchasing the Robot Kit10m
B1.2 The Rover Simulator20m
1 practice exercise
A1.2 Integrating an ODE with MATLAB30m
5 hours to complete

Week 2: Lesson Choices

Choice 2: Please make sure you complete the soldering and flashing before assembly....
6 videos (Total 30 min), 7 readings, 2 quizzes
6 videos
(Review) PD Control for a Point Particle in Space5m
A2.1 PD Control for Second-Order Systems6m
(Review) Infinitesimal Kinematics; RR Arm3m
B2.1 Building the Autonomous Rover (AR)1m
B2.6 Connecting to the Pi2m
7 readings
B2.2 Soldering tips10m
B2.3 Soldering the Motor Hat and IMU20m
B2.4 Flashing your Raspberry Pi SD Card10m
B2.5 Assembling the Robot40m
B2.7 Expanding the SD Card Partition2m
B2.8 Remote Access to the Pi10m
B2.9 Controlling the Rover10m
1 practice exercise
A2.2 PD Trackings
3 hours to complete

Week 3: Lesson Choices

7 videos (Total 37 min), 3 readings, 2 quizzes
7 videos
A3.1 Using an EKF to get Scalar Orientation from an IMU5m
B3.1 Calibration3m
B3.2 Camera Calibration3m
(Review) Rotations and Translations18m
B3.4 Camera to body calibration3m
B3.5 Introduction to Apriltags1m
3 readings
B3.3 Motor Calibration15m
B3.6 Printing your own AprilTags10m
B3.7 Optional: IMU Accelerometer Calibration10m
2 practice exercises
A3.2 EKF for Scalar Attitude Estimations
B3.8 Calibration8m
3 hours to complete

Week 4: Lesson Choices

4 videos (Total 28 min), 2 quizzes
4 videos
A4.1 Modeling a Mobile Inverted Pendulum (MIP)2m
(Review) 2-D Quadrotor Control9m
B4.1 Designing a Controller for the Rover7m
1 practice exercise
A4.2 Dynamical simulation of a MIPs
4 hours to complete

Week 5: Lesson Choices

5 videos (Total 26 min), 2 quizzes
5 videos
A5.1 Local Linearization of a MIP and Linearized Control5m
(Review) Kalman Filter Model5m
(Review) Extended Kalman Filter Model4m
B5.1 An Extended Kalman Filter for the Rover8m
1 practice exercise
A5.2 Balancing Control of a MIPs
7 hours to complete

Week 6: Lesson Choices

3 videos (Total 11 min), 2 quizzes
3 videos
A6.1 Feedback Motion Planning for the MIP3m
B6.1 Integration3m
1 practice exercise
A6.2 Noise-Robust Control and Planning for the MIPs
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Top Reviews

By 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.

By 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.



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

About 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. ...

About the Robotics Specialization

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....

Frequently Asked Questions

  • 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.

More questions? Visit the Learner Help Center.