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Aprox. 22 horas para completar

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


Legendas: Inglês

Habilidades que você terá

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab

100% online

Comece imediatamente e aprenda em seu próprio cronograma.

Prazos flexíveis

Redefinir os prazos de acordo com sua programação.

Aprox. 22 horas para completar

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


Legendas: Inglês

Programa - O que você aprenderá com este curso

3 horas para concluir

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:

8 vídeos ((Total 104 mín.)), 3 leituras, 5 testes
8 videos
1.0.0 What you will learn this week3min
1.1.1 Why and how do animals move?10min
1.1.2 Bioinspiration9min
1.1.3 Legged Mobility: dynamic motion and the management of energy17min
1.2.1 Review LTI Mechanical Dynamical Systems26min
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22min
1.2.3 Linearization & Normal Forms11min
3 leituras
Setting up your MATLAB environment10min
MATLAB Tutorial I - Getting Started with MATLAB10min
MATLAB Tutorial II - Programming10min
5 exercícios práticos
1.1.1 Why and how do animals move8min
1.1.2 Bioinspiration8min
1.1.3 Legged Mobility: dynamic motion and the management of energy8min
1.2.2 Nonlinear mechanical systems8min
1.2.3 Linearizations4min
2 horas para concluir

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:

8 vídeos ((Total 63 mín.)), 7 testes
8 videos
2.1.1 Walking like a rimless wheel15min
2.1.2 Running like a spring-loaded pendulum11min
2.1.3 Controlling the spring-loaded inverted pendulum8min
2.2.1 Metrics and Scaling: mass, length, strength3min
2.2.2 Materials, manufacturing, and assembly5min
2.2.3 Design: figures of merit, robustness3min
2.3.1 Actuator technologies10min
7 exercícios práticos
2.1.1 Walking like a rimless wheel8min
2.1.2 Running like a spring-loaded pendulum8min
2.1.3 Controlling the spring-loaded inverted pendulum8min
2.2.1 Metrics and Scaling: mass, length, strength8min
2.2.2 Materials, manufacturing, and assembly8min
2.2.3 Design: figures of merit, robustness12min
2.3.1 Actuator technologies8min
2 horas para concluir

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:

6 vídeos ((Total 55 mín.)), 6 testes
6 videos
3.1.1 Review of kinematics7min
3.1.2 Introduction to dynamics and control15min
3.2.1 Sprawled posture runners10min
3.2.2 Quadrupeds6min
3.2.3 Bipeds9min
6 exercícios práticos
3.1.1 Review of kinematics (MATLAB)8min
3.1.2 Introduction to dynamics and control6min
3.2.1 Sprawled posture runners8min
3.2.2 Quadrupeds8min
3.2.3 Bipeds6min
Simply stabilized SLIP (MATLAB)12min
2 horas para concluir

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:

10 vídeos ((Total 75 mín.)), 10 testes
10 videos
4.1.1 Sequential and Parallel Composition4min
4.2.1 Why is parallel hard?8min
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6min
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16min
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11min
4.3.1 Compositions of vertical hoppers4min
4.3.2 Same composition, different bodies8min
4.3.3 Same body, different compositions4min
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5min
10 exercícios práticos
4.1.1 Sequential and Parallel Composition6min
4.2.1 Why is parallel hard?6min
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6min
4.2.3a RHex4min
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4min
4.3.1 Compositions of vertical hoppers10min
MATLAB: composition of vertical hoppers12min
4.3.2 Same composition, different bodies6min
4.3.3 Same body, different compositions4min
4.3.4 Transitions8min
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Principais avaliações do Robotics: Mobility

por 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.

por 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 !



Daniel E. Koditschek

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

Sobre Universidade da Pensilvânia

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. ...

Sobre o Programa de cursos integrados 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....

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