Robotics: Capstone

Robotics: Capstone

12 h
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  • 6 Sequences
  • Introductive Level

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Course details


  • Week 1 - 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 ...
  • Week 2 - 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 al...
  • Week 3 - 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 y...
  • Week 4 - 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, y...
  • Week 5 - Week 5
    In the MIP track, you will begin to apply the control ideas from Week 2 to your newly developed MIP simulation from Week 4. In particular, you will have exercises that show you how to balance the MIP using its wheel actuators. In the AR track, you will learn t...
  • Week 6 - Week 6
    In the MIP track, you will first attempt to replicate the balancing control from last week, but now with noisy sensor data (as you might expect on a physical platform). Next, you will build on your balance controller and allow the MIP to be moved around to des...




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


The University of Pennsylvania (commonly known as Penn), founded in 1740, is a private university located in Philadelphia, Pennsylvania, USA. A member of the Ivy League, Penn is the fourth oldest institution of higher learning in the United States and considers itself the first university in the United States to offer both undergraduate and graduate degrees.


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