Robotics: Capstone

Robotics: Capstone

课程
en
英语
12 时
此内容评级为 4.8889/5
来源
  • 来自www.coursera.org
状况
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  • 6 序列
  • 等级 介绍

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课程详情

教学大纲

  • 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...

先决条件

没有。

讲师

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

编辑

宾夕法尼亚大学(俗称宾大)成立于 1740 年,是一所位于美国宾夕法尼亚州费城的私立大学。作为常春藤联盟的成员,宾大是美国第四古老的高等学府,也是美国第一所同时提供本科和研究生学位的大学。

平台

Coursera是一家数字公司,提供由位于加利福尼亚州山景城的计算机教师Andrew Ng和达芙妮科勒斯坦福大学创建的大型开放式在线课程。

Coursera与顶尖大学和组织合作,在线提供一些课程,并提供许多科目的课程,包括:物理,工程,人文,医学,生物学,社会科学,数学,商业,计算机科学,数字营销,数据科学 和其他科目。

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