About this Course
4.5
61 ratings
17 reviews
Specialization

Course 6 of 6 in the

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100% online

Start instantly and learn at your own schedule.
Flexible deadlines

Flexible deadlines

Reset deadlines in accordance to your schedule.
Hours to complete

Approx. 17 hours to complete

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

English

Subtitles: English...

Skills you will gain

Python ProgrammingRoboticsRaspberry PiMatlab
Specialization

Course 6 of 6 in the

100% online

100% online

Start instantly and learn at your own schedule.
Flexible deadlines

Flexible deadlines

Reset deadlines in accordance to your schedule.
Hours to complete

Approx. 17 hours to complete

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

English

Subtitles: English...

Syllabus - What you will learn from this course

Week
1
Hours to complete
4 hours 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....
Reading
5 videos (Total 29 min), 2 readings, 1 quiz
Video5 videos
Introduction to the Mobile Inverted Pendulum (MIP) Track4m
Introduction to the Autonomous Rover (AR) Track10m
A1.1 Using MATLAB for Dynamic Simulations4m
(Review) Dijkstra's Algorithm4m
Reading2 readings
B1.1 Purchasing the Robot Kit10m
B1.2 The Rover Simulator20m
Quiz1 practice exercise
A1.2 Integrating an ODE with MATLAB30m
Week
2
Hours to complete
2 hours to complete

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 videos (Total 30 min), 7 readings, 1 quiz
Video6 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
Reading7 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
Quiz1 practice exercise
A2.2 PD Trackingm
Week
3
Hours to complete
2 hours to complete

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 videos (Total 37 min), 3 readings, 1 quiz
Video7 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
Reading3 readings
B3.3 Motor Calibration15m
B3.6 Printing your own AprilTags10m
B3.7 Optional: IMU Accelerometer Calibration10m
Quiz2 practice exercises
A3.2 EKF for Scalar Attitude Estimationm
B3.8 Calibration8m
Week
4
Hours to complete
2 hours to complete

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 videos (Total 28 min), 1 quiz
Video4 videos
A4.1 Modeling a Mobile Inverted Pendulum (MIP)2m
(Review) 2-D Quadrotor Control9m
B4.1 Designing a Controller for the Rover7m
Quiz1 practice exercise
A4.2 Dynamical simulation of a MIPm
4.5
17 ReviewsChevron Right
Career Benefit

83%

got a tangible career benefit from this course

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.

Instructors

Avatar

Kostas Daniilidis

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

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....
Robotics

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.