UPenn - Robotics: Mobility
- Offered byCoursera
Robotics: Mobility at Coursera Overview
Duration | 19 hours |
Total fee | Free |
Mode of learning | Online |
Official Website | Explore Free Course  |
Credential | Certificate |
Robotics: Mobility at Coursera Highlights
- Shareable Certificate Earn a Certificate upon completion
- 100% online Start instantly and learn at your own schedule.
- Course 3 of 6 in the Robotics Specialization
- Flexible deadlines Reset deadlines in accordance to your schedule.
- Approx. 19 hours to complete
- English Subtitles: French, Portuguese (European), Russian, English, Spanish
Robotics: Mobility at Coursera Course details
- How can robots use their motors and sensors to move around in an unstructured environment? You will understand how to design robot bodies and behaviors that recruit limbs and more general appendages to apply physical forces that confer reliable mobility in a complex and dynamic world. We develop an approach to composing simple dynamical abstractions that partially automate the generation of complicated sensorimotor programs. Specific topics that will be covered include: mobility in animals and robots, kinematics and dynamics of legged machines, and design of dynamical behavior via energy landscapes.
Robotics: Mobility at Coursera Curriculum
Introduction: Motivation and Background
0.0.0 What you will learn in this course
1.0.0 What you will learn this week
1.1.1 Why and how do animals move?
1.1.2 Bioinspiration
1.1.3 Legged Mobility: dynamic motion and the management of energy
1.2.1 Review LTI Mechanical Dynamical Systems
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity
1.2.3 Linearization & Normal Forms
Setting up your MATLAB environment
MATLAB Tutorial I - Getting Started with MATLAB
MATLAB Tutorial II - Programming
1.1.1 Why and how do animals move
1.1.2 Bioinspiration
1.1.3 Legged Mobility: dynamic motion and the management of energy
1.2.2 Nonlinear mechanical systems
1.2.3 Linearizations
Behavioral (Templates) & Physical (Bodies)
2.0.0 What you will learn this week
2.1.1 Walking like a rimless wheel
2.1.2 Running like a spring-loaded pendulum
2.1.3 Controlling the spring-loaded inverted pendulum
2.2.1 Metrics and Scaling: mass, length, strength
2.2.2 Materials, manufacturing, and assembly
2.2.3 Design: figures of merit, robustness
2.3.1 Actuator technologies
2.1.1 Walking like a rimless wheel
2.1.2 Running like a spring-loaded pendulum
2.1.3 Controlling the spring-loaded inverted pendulum
2.2.1 Metrics and Scaling: mass, length, strength
2.2.2 Materials, manufacturing, and assembly
2.2.3 Design: figures of merit, robustness
2.3.1 Actuator technologies
Anchors: Embodied Behaviors
3.0.0 What you will learn this week
3.1.1 Review of kinematics
3.1.2 Introduction to dynamics and control
3.2.1 Sprawled posture runners
3.2.2 Quadrupeds
3.2.3 Bipeds
3.1.1 Review of kinematics (MATLAB)
3.1.2 Introduction to dynamics and control
3.2.1 Sprawled posture runners
3.2.2 Quadrupeds
3.2.3 Bipeds
Simply stabilized SLIP (MATLAB)
Composition (Programming Work)
4.0.0 What you will learn this week
4.1.1 Sequential and Parallel Composition
4.2.1 Why is parallel hard?
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
4.3.1 Compositions of vertical hoppers
4.3.2 Same composition, different bodies
4.3.3 Same body, different compositions
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping
4.1.1 Sequential and Parallel Composition
4.2.1 Why is parallel hard?
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition
4.2.3a RHex
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
4.3.1 Compositions of vertical hoppers
MATLAB: composition of vertical hoppers
4.3.2 Same composition, different bodies
4.3.3 Same body, different compositions
4.3.4 Transitions
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