Este curso forma parte de Programa especializado: Robótica

4.5
estrellas
2,919 calificaciones

89 %

Vijay Kumar

124.390 ya inscrito

Ofrecido Por

Programa especializado: RobóticaUniversidad de Pensilvania

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How can we create agile micro aerial vehicles that are able to operate autonomously in cluttered indoor and outdoor environments?  You will gain an introduction to the mechanics of flight and the design of quadrotor flying robots and will be able to develop dynamic models, derive controllers, and synthesize planners for operating in three dimensional environments.  You will be exposed to the challenges of using noisy sensors for localization and maneuvering in complex, three-dimensional environments.  Finally, you will gain insights through seeing real world examples of the possible applications and challenges for the rapidly-growing drone industry.
Mathematical prerequisites: Students taking this course are expected to have some familiarity with linear algebra, single variable calculus, and differential equations.

Programming prerequisites: Some experience programming with MATLAB or Octave is recommended (we will use MATLAB in this course.) MATLAB will require the use of a 64-bit computer.

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Curso 1 de 6 en

Programa especializado: Robótica

Aprox. 18 horas para completar

Inglés (English)

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Prueba Coursera para negocios

Habilidades que obtendrás

Motion Planning
Robotics
Quadcoper
Matlab

Fechas límite flexibles

Restablece las fechas límite en función de tus horarios.

Certificado para compartir

Obtén un certificado al finalizar

100 % en línea

Comienza de inmediato y aprende a tu propio ritmo.

Curso 1 de 6 en

Programa especializado: Robótica

Aprox. 18 horas para completar

Inglés (English)

¿Podría tu empresa beneficiarse de la capacitación de los empleados en las habilidades más demandadas?

Prueba Coursera para negocios

Instructor

Calificación del instructor

4,59/5 (299 calificaciones)

Vijay Kumar

Nemirovsky Family Dean of Penn Engineering and Professor of Mechanical Engineering and Applied Mechanics

School of Engineering and Applied Science

124.478 alumnos

2 cursos

Ofrecido por

Universidad de Pensilvania

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Programa - Qué aprenderás en este curso

Calificación del contenido89%(10,937 calificaciones)

Semana

Semana 1

3 horas para completar

Introduction to Aerial Robotics

Welcome to Week 1! In this week, you will be introduced to the exciting field of Unmanned Aerial Robotics (UAVs) and quadrotors in particular. You will learn about their basic mechanics and control strategies and realize how careful component selection and design affect the vehicles' performance. This week also provides you with instructions on how to download and install Matlab. This software will be used throughout this course in exercises and assignments, so it is strongly recommended to familiarize yourself with Matlab soon. Tutorials to help you get started are also provided in this week.

3 horas para completar

16 videos (Total 74 minutos), 4 lecturas, 2 cuestionarios

16 videos

Unmanned Aerial Vehicles7m

Quadrotors3m

Key Components of Autonomous Flight1m

State Estimation7m

Applications3m

Meet the TAs52s

Basic Mechanics4m

Dynamics and 1-D Linear Control10m

Design Considerations3m

Design Considerations (continued)4m

Agility and Maneuverability7m

Component Selection4m

Effects of Size4m

Supplementary Material: Introduction3m

Supplementary Material: Dynamical Systems3m

Supplementary Material: Rates of Convergence3m

4 lecturas

Setting up your Matlab programming environment10m

Matlab Tutorials - Introduction to the Matlab Environment10m

Matlab Tutorials - Programming Basics10m

Matlab Tutorials - Advanced Tools10m

2 ejercicios de práctica

1.130m

1.230m

Semana

Semana 2

5 horas para completar

Geometry and Mechanics

Welcome to Week 2 of the Robotics: Aerial Robotics course! We hope you are having a good time and learning a lot already! In this week, we will first focus on the kinematics of quadrotors. Then, you will learn how to derive the dynamic equations of motion for quadrotors. To build a better understanding on these notions, some essential mathematical tools are discussed in supplementary material lectures. In this week, you will also complete your first programming assignment on 1-D quadrotor control. If you have not done so already, please download, install, and learn about Matlab before starting the assignment.

5 horas para completar

19 videos (Total 117 minutos)

19 videos

Transformations16m

Rotations4m

Euler Angles12m

Axis/Angle Representations for Rotations14m

Angular Velocity9m

Supplementary Material: Rigid-Body Displacements6m

Supplementary Material: Properties of Functions3m

Supplementary Material: Symbolic Calculations in Matlab4m

Supplementary Material: The atan2 Function2m

Supplementary Material: Eigenvalues and Eigenvectors of Matrices5m

Supplementary Material: Quaternions2m

Supplementary Material: Matrix Derivative1m

Supplementary Material: Skew-Symmetric Matrices and the Hat Operator4m

Formulation3m

Newton-Euler Equations6m

Principal Axes and Principal Moments of Inertia6m

Quadrotor Equations of Motion5m

Supplementary Material: State-Space Form4m

Supplementary Material: Getting Started With the First Programming Assignment3m

1 ejercicio de práctica

2.130m

Semana

Semana 3

5 horas para completar

Planning and Control

Welcome to Week 3! We have developed planar and three-dimensional dynamic models of the quadrotor. This week, you will learn more about how to develop linear controllers for these models. With this knowledge, you will be required to complete the second programming assignment of this course, which focuses on controlling the quadrotor in two dimensions. We encourage you to start working on the assignment soon. This week ends with a discussion on motion planning for quadrotors.

5 horas para completar

9 videos (Total 65 minutos)

9 videos

2-D Quadrotor Control8m

3-D Quadrotor Control7m

Time, Motion, and Trajectories9m

Time, Motion, and Trajectories (continued)9m

Motion Planning for Quadrotors12m

Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations2m

Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories5m

Supplementary Material: Minimum Velocity Trajectories3m

Supplementary Material: Linearization of Quadrotor Equations of Motion5m

1 ejercicio de práctica

330m

Semana

Semana 4

5 horas para completar

Advanced Topics

Welcome to Week 4! So far, we have gone over the basics of developing linear controllers for quadrotors and motion planning. In this last week of the course, we will discuss some more advanced material on how to enable quadrotors to perform more agile maneuvers and to operate autonomously in teams. Note that the last programming assignment on quadrotor control in three dimensions uses material from the previous weeks. It is strongly recommended to start the assignment as soon as possible.

5 horas para completar

5 videos (Total 68 minutos)

Reseñas

4.5

734 reseña

5 stars
68,31 %
4 stars
23,15 %
3 stars
4,41 %
2 stars
1,84 %
1 star
2,26 %

Principales reseñas sobre ROBOTICS: AERIAL ROBOTICS

por YU14 de sep. de 2017

Good segue from a hardware modeling to a control design. I learned a control theory in university, but had no idea about how to implement to actual device. This course describes it.

por CE11 de feb. de 2016

Well balanced mix of theory and practical applicability. Explanation of the material is also very good.

The assignments are nicely built on the taught material to stimulate understanding.

por LS25 de dic. de 2017

The final coding assignment is hard and time consuming. Need more experience and knowledge before taking this course. However, I got through and learned quite a lot from this course.

por AJ21 de nov. de 2017

Exceptional Material, not only are the concept are explained well, the supplementary material are provided for all possible requirement along side. Advance course with minimum prerequisite

Ver todas las reseñas

Acerca de Programa especializado: Robótica

The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects.

Preguntas Frecuentes

¿Cuándo podré acceder a las lecciones y tareas?
El acceso a las clases y las asignaciones depende del tipo de inscripción que tengas. Si tomas un curso en modo de oyente, verás la mayoría de los materiales del curso en forma gratuita. Para acceder a asignaciones calificadas y obtener un certificado, deberás comprar la experiencia de Certificado, ya sea durante o después de participar como oyente. Si no ves la opción de oyente:
es posible que el curso no ofrezca la opción de participar como oyente. En cambio, puedes intentar con una Prueba gratis o postularte para recibir ayuda económica.
Es posible que el curso ofrezca la opción 'Curso completo, sin certificado'. Esta opción te permite ver todos los materiales del curso, enviar las evaluaciones requeridas y obtener una calificación final. También significa que no podrás comprar una experiencia de Certificado.
¿Qué recibiré si me suscribo a este Programa especializado?
Cuando te inscribes en un curso, obtienes acceso a todos los cursos que forman parte del Programa especializado y te darán un Certificado cuando completes el trabajo. Se añadirá tu Certificado electrónico a la página Logros. Desde allí, puedes imprimir tu Certificado o añadirlo a tu perfil de LinkedIn. Si solo quieres leer y visualizar el contenido del curso, puedes auditar el curso sin costo.
¿Hay ayuda económica disponible?
Sí. En ciertos programas de aprendizaje, puedes postularte para recibir ayuda económica o una beca en caso de no poder costear los gastos de la tarifa de inscripción. Si hay ayuda económica o becas disponibles para tu selección de programa de aprendizaje, verás un enlace para postularte en la página de descripción.

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Robotics: Aerial Robotics

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