À propos de ce cours
3.8
381 notes
95 avis
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....
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Recommandé : 4 weeks of study, 2-4 hours/week

Approx. 22 heures pour terminer
Comment Dots

English

Sous-titres : English

Compétences que vous acquerrez

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab
Stacks

Cours 3 sur 6 dans la

Globe

Cours en ligne à 100 %

Commencez dès maintenant et apprenez aux horaires qui vous conviennent.
Calendar

Dates limites flexibles

Réinitialisez les dates limites selon votre disponibilité.
Clock

Recommandé : 4 weeks of study, 2-4 hours/week

Approx. 22 heures pour terminer
Comment Dots

English

Sous-titres : English

Programme du cours : ce que vous apprendrez dans ce cours

1

Section
Clock
3 heures pour terminer

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 vidéos (Total 104 min), 3 lectures, 5 quiz
Video8 vidéos
1.0.0 What you will learn this week3 min
1.1.1 Why and how do animals move?10 min
1.1.2 Bioinspiration9 min
1.1.3 Legged Mobility: dynamic motion and the management of energy17 min
1.2.1 Review LTI Mechanical Dynamical Systems26 min
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22 min
1.2.3 Linearization & Normal Forms11 min
Reading3 lectures
Setting up your MATLAB environment10 min
MATLAB Tutorial I - Getting Started with MATLAB10 min
MATLAB Tutorial II - Programming10 min
Quiz5 exercices pour s'entraîner
1.1.1 Why and how do animals move8 min
1.1.2 Bioinspiration8 min
1.1.3 Legged Mobility: dynamic motion and the management of energy8 min
1.2.2 Nonlinear mechanical systems8 min
1.2.3 Linearizations4 min

2

Section
Clock
2 heures pour terminer

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 vidéos (Total 63 min), 7 quiz
Video8 vidéos
2.1.1 Walking like a rimless wheel15 min
2.1.2 Running like a spring-loaded pendulum11 min
2.1.3 Controlling the spring-loaded inverted pendulum8 min
2.2.1 Metrics and Scaling: mass, length, strength3 min
2.2.2 Materials, manufacturing, and assembly5 min
2.2.3 Design: figures of merit, robustness3 min
2.3.1 Actuator technologies10 min
Quiz7 exercices pour s'entraîner
2.1.1 Walking like a rimless wheel8 min
2.1.2 Running like a spring-loaded pendulum8 min
2.1.3 Controlling the spring-loaded inverted pendulum8 min
2.2.1 Metrics and Scaling: mass, length, strength8 min
2.2.2 Materials, manufacturing, and assembly8 min
2.2.3 Design: figures of merit, robustness12 min
2.3.1 Actuator technologies8 min

3

Section
Clock
2 heures pour terminer

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 vidéos (Total 55 min), 6 quiz
Video6 vidéos
3.1.1 Review of kinematics7 min
3.1.2 Introduction to dynamics and control15 min
3.2.1 Sprawled posture runners10 min
3.2.2 Quadrupeds6 min
3.2.3 Bipeds9 min
Quiz6 exercices pour s'entraîner
3.1.1 Review of kinematics (MATLAB)8 min
3.1.2 Introduction to dynamics and control6 min
3.2.1 Sprawled posture runners8 min
3.2.2 Quadrupeds8 min
3.2.3 Bipeds6 min
Simply stabilized SLIP (MATLAB)12 min

4

Section
Clock
2 heures pour terminer

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 vidéos (Total 75 min), 10 quiz
Video10 vidéos
4.1.1 Sequential and Parallel Composition4 min
4.2.1 Why is parallel hard?8 min
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6 min
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16 min
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11 min
4.3.1 Compositions of vertical hoppers4 min
4.3.2 Same composition, different bodies8 min
4.3.3 Same body, different compositions4 min
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5 min
Quiz10 exercices pour s'entraîner
4.1.1 Sequential and Parallel Composition6 min
4.2.1 Why is parallel hard?6 min
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6 min
4.2.3a RHex4 min
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4 min
4.3.1 Compositions of vertical hoppers10 min
MATLAB: composition of vertical hoppers12 min
4.3.2 Same composition, different bodies6 min
4.3.3 Same body, different compositions4 min
4.3.4 Transitions8 min
3.8
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Meilleurs avis

par 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.

par 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 !

Enseignant

Daniel E. Koditschek

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

À propos de 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. ...

À propos de la Spécialisation Robotics

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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