Chevron Left
Volver a Robotics: Capstone

Robotics: Capstone, University of Pennsylvania

62 calificaciones
18 revisiones

Acerca de este Curso

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...

Principales revisiones

por CP

Sep 25, 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.

por AK

Oct 10, 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.

Filtrar por:

16 revisiones

por Lokesh Bisht

Nov 29, 2018

Very Very Very tough and mind blasting. A lot of learning. I will have to go through this course again and again and again. Thanks everyone. Thanks a ton.

por Joaquin Rincon

Nov 04, 2018

Very few information available. This is just easier to complete because is a review of the other courses.

por Vu Nhat Minh

Sep 25, 2018

It is quite good but I need something more challenge

por Guillermo Calderon-Meza

Dec 18, 2017

Most of the modules are very practical in nature. Some of the modules focused on the research being done at the moment, which can make them look like more abstract, i.e. not so practical, but I think it is good to see what the future will bring. The capstone project helps a lot really fix the concepts in the mind of the student.

Sometimes the grading system could be more friendly, e.g.: provide more clues as to what is not working fine in the assignments.

The communication with the instructors is rather slow. I know that the idea is the interaction with peers should compensate for the virtual presence and the distance between students and instructors, but sometimes the peers have the same questions and concerns, so student might need the help from the instructors in a timely manner.

por Fabio Bobrow

Aug 21, 2017

Excellent exercises, straight to the point and just with a simple review from previous courses.

por Enrico Anderlini

Aug 08, 2017

This module combines elements from the previous 5 courses for the creation of a practical project. It is possible to choose between the modelling and control of a two-dimensional Segway in Matlab or the creation and control of a robot rover. I picked the first module and it proved to be very interesting. The lectures are few and very clear, with most of the time dedicated to the development of the project. For once, the assignments were also clear! Excellent course!

por Ramachandran Seetharaman

Jun 13, 2017

I followed the MIP track since the AR track required me to purchase a kit and it was quite expensive.

I would like to make the bot with custom parts once i have acquired the needed ones.

The MIP track was good involving all that we learnt from previous courses and building up our ability to code.

por Abhilash VJ

May 24, 2017

This specialization is a great overwiew of robotics.You will not be a master but youwill definitely be able to get familiar with many robotics terms and you can hold your own in a conversation with a roboticist.

por 陈鹏

Mar 10, 2017


por Ran Cheng

Jan 25, 2017

Very challenging, yet more interesting. I like these capstones, learned way more than I expected. Great course, recommend strongly.