课程信息
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第 3 门课程(共 6 门)

100% 在线

立即开始,按照自己的计划学习。

可灵活调整截止日期

根据您的日程表重置截止日期。

完成时间大约为22 小时

建议:4 weeks of study, 2-4 hours/week...

英语(English)

字幕:英语(English)

您将获得的技能

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab

第 3 门课程(共 6 门)

100% 在线

立即开始,按照自己的计划学习。

可灵活调整截止日期

根据您的日程表重置截止日期。

完成时间大约为22 小时

建议:4 weeks of study, 2-4 hours/week...

英语(English)

字幕:英语(English)

学习Course的学生是

  • Machine Learning Engineers
  • Data Scientists
  • Research Assistants
  • Engineers
  • Software Engineers

教学大纲 - 您将从这门课程中学到什么

1
完成时间为 3 小时

Introduction: Motivation and Background

8 个视频 (总计 104 分钟), 3 个阅读材料, 5 个测验
8 个视频
1.0.0 What you will learn this week3分钟
1.1.1 Why and how do animals move?10分钟
1.1.2 Bioinspiration9分钟
1.1.3 Legged Mobility: dynamic motion and the management of energy17分钟
1.2.1 Review LTI Mechanical Dynamical Systems26分钟
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22分钟
1.2.3 Linearization & Normal Forms11分钟
3 个阅读材料
Setting up your MATLAB environment10分钟
MATLAB Tutorial I - Getting Started with MATLAB10分钟
MATLAB Tutorial II - Programming10分钟
5 个练习
1.1.1 Why and how do animals move8分钟
1.1.2 Bioinspiration8分钟
1.1.3 Legged Mobility: dynamic motion and the management of energy8分钟
1.2.2 Nonlinear mechanical systems8分钟
1.2.3 Linearizations4分钟
2
完成时间为 2 小时

Behavioral (Templates) & Physical (Bodies)

8 个视频 (总计 63 分钟), 7 个测验
8 个视频
2.1.1 Walking like a rimless wheel15分钟
2.1.2 Running like a spring-loaded pendulum11分钟
2.1.3 Controlling the spring-loaded inverted pendulum8分钟
2.2.1 Metrics and Scaling: mass, length, strength3分钟
2.2.2 Materials, manufacturing, and assembly5分钟
2.2.3 Design: figures of merit, robustness3分钟
2.3.1 Actuator technologies10分钟
7 个练习
2.1.1 Walking like a rimless wheel8分钟
2.1.2 Running like a spring-loaded pendulum8分钟
2.1.3 Controlling the spring-loaded inverted pendulum8分钟
2.2.1 Metrics and Scaling: mass, length, strength8分钟
2.2.2 Materials, manufacturing, and assembly8分钟
2.2.3 Design: figures of merit, robustness12分钟
2.3.1 Actuator technologies8分钟
3
完成时间为 2 小时

Anchors: Embodied Behaviors

6 个视频 (总计 55 分钟), 6 个测验
6 个视频
3.1.1 Review of kinematics7分钟
3.1.2 Introduction to dynamics and control15分钟
3.2.1 Sprawled posture runners10分钟
3.2.2 Quadrupeds6分钟
3.2.3 Bipeds9分钟
6 个练习
3.1.1 Review of kinematics (MATLAB)8分钟
3.1.2 Introduction to dynamics and control6分钟
3.2.1 Sprawled posture runners8分钟
3.2.2 Quadrupeds8分钟
3.2.3 Bipeds6分钟
Simply stabilized SLIP (MATLAB)12分钟
4
完成时间为 2 小时

Composition (Programming Work)

10 个视频 (总计 75 分钟), 10 个测验
10 个视频
4.1.1 Sequential and Parallel Composition4分钟
4.2.1 Why is parallel hard?8分钟
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6分钟
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16分钟
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11分钟
4.3.1 Compositions of vertical hoppers4分钟
4.3.2 Same composition, different bodies8分钟
4.3.3 Same body, different compositions4分钟
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5分钟
10 个练习
4.1.1 Sequential and Parallel Composition6分钟
4.2.1 Why is parallel hard?6分钟
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6分钟
4.2.3a RHex4分钟
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4分钟
4.3.1 Compositions of vertical hoppers10分钟
MATLAB: composition of vertical hoppers12分钟
4.3.2 Same composition, different bodies6分钟
4.3.3 Same body, different compositions4分钟
4.3.4 Transitions8分钟
3.9
115 个审阅Chevron Right

60%

完成这些课程后已开始新的职业生涯

43%

通过此课程获得实实在在的工作福利

来自Robotics: Mobility的热门评论

创建者 TMJun 5th 2017

The material itself is worth a few stars. Clearly lots of work has gone into making some interesting interactive matlab demos. some of the quizzes are unnecessarily confusing.

创建者 PRAug 21st 2017

Very vast and intuitive course.I found all the information required to design my own legged robot ! I will try and design my own . Thank you so much !

讲师

Avatar

Daniel E. Koditschek

Professor of Electrical and Systems Engineering
School of Engineering and Applied Science

关于 宾夕法尼亚大学

The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies. ...

关于 机器人 专项课程

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....
机器人

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