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Updated in [October 18th, 2023]

What does this course tell? (Please note that the following overview content is from the original platform) 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: Dijkstras and Purchasing the Kit
Quiz: A12 Integrating an ODE with MATLAB
Programming Assignment: B13 Dijkstras Algorithm in Python

Week 2

MIP Track: PD Control for Second-Order Systems
AR Track: Assembling the Rover
Quiz: A22 PD Tracking
Quiz: B210 Demonstrating your Completed Rover

Week 3

MIP Track: Using an EKF to get scalar orientation from an IMU
AR Track: Calibration
Quiz: A32 EKF for Scalar Attitude Estimation
Quiz: B38 Calibration

Week 4

MIP Track: Modeling a Mobile Inverted Pendulum (MIP)
AR Track: Designing a Controller for the Rover
Quiz: A42 Dynamical simulation of a MIP
Peer Graded Assignment: B42 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: A52 Balancing Control of a MIP
Peer Graded Assignment: B52 An Extended Kalman Filter for State Estimation

Week 6

MIP Track: Feedback motion planning for the MIP
AR Track: Integration
Quiz: A62 Noise-Robust Control and Planning for the MIP
Peer Graded Assignment: B62 Completing your Autonomous Rover We considered the value of this course from many aspects, and finally summarized it for you from two aspects: skills and knowledge, and the people who benefit from it: (Please note that our content is optimized through artificial intelligence tools and carefully reviewed by our editorial staff.) What skills and knowledge will you acquire during this course? A deep understanding of robotic movement planning and perception. Practical application of mathematical and programming methods relevant in robotics. Implementation of solutions to real-world problems using robotics concepts. The choice of track allows students to demonstrate their knowledge either in simulation or with a physical hardware setup, catering to different learning preferences. Who will benefit from this course? This course will benefit individuals who are interested in robotics and want to gain practical experience in implementing solutions for real-world problems. It is particularly relevant for those who have already completed courses in robotics specialization and want to apply their knowledge in a hands-on project. For the simulation track, individuals with a background in mobility aerial robotics and estimation will benefit from using MATLAB to simulate a mobile inverted pendulum (MIP). This track will enhance their understanding of dynamic simulations and control systems. For the hardware track, individuals who are interested in building and programming robots will benefit from purchasing and assembling a rover kit, raspberry pi, pi camera, and IMU. This track will provide them with the opportunity to navigate the rover autonomously in their own environment, improving their skills in robot movement planning and perception. Completion of the capstone will not only prepare individuals to enter the field of robotics but also open up opportunities in various other career paths where robots are becoming increasingly prevalent. This course will equip them with the necessary foundations and practical skills to tackle real-world problems in industries that are being transformed by robotics technology.