课程信息
3.8
396 个评分
102 个审阅
专项课程

Course 3 of 6 in the

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可灵活调整截止日期

可灵活调整截止日期

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完成时间(小时)

完成时间大约为23 小时

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

英语(English)

字幕:英语(English)

您将获得的技能

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab
专项课程

Course 3 of 6 in the

100% 在线

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

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(小时)

完成时间大约为23 小时

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

英语(English)

字幕:英语(English)

教学大纲 - 您将从这门课程中学到什么

1
完成时间(小时)
完成时间为 3 小时

Introduction: Motivation and Background

We start with a general consideration of animals, the exemplar of mobility in nature. This leads us to adopt the stance of bioinspiration rather than biomimicry, i.e., extracting principles rather than appearances and applying them systematically to our machines. A little more thinking about typical animal mobility leads us to focus on appendages – limbs and tails – as sources of motion. The second portion of the week offers a bit of background on the physical and mathematical foundations of limbed robotic mobility. We start with a linear spring-mass-damper system and consider the second order ordinary differential equation that describes it as a first order dynamical system. We then treat the simple pendulum – the simplest revolute kinematic limb – in the same manner just to give a taste for the nature of nonlinear dynamics that inevitably arise in robotics. We’ll finish with a treatment of stability and energy basins. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc ...
Reading
8 个视频 (总计 104 分钟), 3 个阅读材料, 5 个测验
Video8 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
Reading3 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
Quiz5 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(小时)
完成时间为 2 小时

Behavioral (Templates) & Physical (Bodies)

We’ll start with behavioral components that take the form of what we call “templates:” very simple mechanisms whose motions are fundamental to the more complex limbed strategies employed by animal and robot locomotors. We’ll focus on the “compass gait” (the motion of a two spoked rimless wheel) and the spring loaded inverted pendulum – the abbreviated versions of legged walkers and legged runners, respectively.We’ll then shift over to look at the physical components of mobility. We’ll start with the notion of physical scaling laws and then review useful materials properties and their associated figures of merit. We’ll end with a brief but crucial look at the science and technology of actuators – the all important sources of the driving forces and torques in our robots. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc ...
Reading
8 个视频 (总计 63 分钟), 7 个测验
Video8 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
Quiz7 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(小时)
完成时间为 2 小时

Anchors: Embodied Behaviors

Now we’ll put physical links and joints together and consider the geometry and the physics required to understand their coordinated motion. We’ll learn about the geometry of degrees of freedom. We’ll then go back to Newton and learn a compact way to write down the physical dynamics that describes the positions, velocities and accelerations of those degrees of freedom when forced by our actuators.Of course there are many different ways to put limbs and bodies together: again, the animals can teach us a lot as we consider the best morphology for our limbed robots. Sprawled posture runners like cockroaches have six legs which typically move in a stereotyped pattern which we will consider as a model for a hexapedal machine. Nature’s quadrupeds have their own varied gait patterns which we will match up to various four-legged robot designs as well. Finally, we’ll consider bipedal machines, and we’ll take the opportunity to distinguish human-like robot bipeds that are almost foredoomed to be slow quasi-static machines from a number of less animal-like bipedal robots whose embrace of bioinspired principles allows them to be fast runners and jumpers. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc ...
Reading
6 个视频 (总计 55 分钟), 6 个测验
Video6 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
Quiz6 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(小时)
完成时间为 2 小时

Composition (Programming Work)

We now introduce the concept of dynamical composition, reviewing two types: a composition in time that we term “sequential”; and composition in space that we call “parallel.” We’ll put a bit more focus into that last concept, parallel composition and review what has been done historically, and what can be guaranteed mathematically when the simple templates of week 2 are tasked to worked together “in parallel” on variously more complicated morphologies. The final section of this week’s lesson brings you to the horizons of research into legged mobility. We give examples of how the same composition can be anchored in different bodies, and, conversely, how the same body can be made to run using different compositions. We will conclude with a quick look at the ragged edge of what is known about transitional behaviors such as leaping. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc ...
Reading
10 个视频 (总计 75 分钟), 10 个测验
Video10 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
Quiz10 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
3.8
102 个审阅Chevron Right
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热门审阅

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 University of Pennsylvania

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 Robotics 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....
Robotics

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