机器人:顶点

Robotics: Capstone

328 次查看
宾夕法尼亚大学
Coursera
  • 完成时间大约为 24 个小时
  • 混合难度
  • 英语
注:本课程由Coursera和Linkshare共同提供,因开课平台的各种因素变化,以上开课日期仅供参考

课程概况

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

课程大纲

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.

Week 1: Lesson Choices

Week 2: Lesson Choices

Choice 2: Please make sure you complete the soldering and flashing before assembly.

Week 3: Lesson Choices

Week 4: Lesson Choices

Week 5: Lesson Choices

Week 6: Lesson Choices

千万首歌曲。全无广告干扰。
此外,您还能在所有设备上欣赏您的整个音乐资料库。免费畅听 3 个月,之后每月只需 ¥10.00。
Apple 广告
声明:MOOC中国十分重视知识产权问题,我们发布之课程均源自下列机构,版权均归其所有,本站仅作报道收录并尊重其著作权益。感谢他们对MOOC事业做出的贡献!
  • Coursera
  • edX
  • OpenLearning
  • FutureLearn
  • iversity
  • Udacity
  • NovoEd
  • Canvas
  • Open2Study
  • Google
  • ewant
  • FUN
  • IOC-Athlete-MOOC
  • World-Science-U
  • Codecademy
  • CourseSites
  • opencourseworld
  • ShareCourse
  • gacco
  • MiriadaX
  • JANUX
  • openhpi
  • Stanford-Open-Edx
  • 网易云课堂
  • 中国大学MOOC
  • 学堂在线
  • 顶你学堂
  • 华文慕课
  • 好大学在线CnMooc
  • (部分课程由Coursera、Udemy、Linkshare共同提供)

© 2008-2020 MOOC.CN 慕课改变你,你改变世界