Robotics: Mobility

Methode

Robotics: Mobility

Coursera (CC)
Logo von Coursera (CC)
Bewertung: starstarstarstar_halfstar_border 7,2 Bildungsangebote von Coursera (CC) haben eine durchschnittliche Bewertung von 7,2 (aus 6 Bewertungen)

Tipp: Haben Sie Fragen? Für weitere Details einfach auf "Kostenlose Informationen" klicken.

Beschreibung

When you enroll for courses through Coursera you get to choose for a paid plan or for a free plan

  • Free plan: No certicification and/or audit only. You will have access to all course materials except graded items.
  • Paid plan: Commit to earning a Certificate—it's a trusted, shareable way to showcase your new skills.

About this course: 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.

Created by:  University of Pennsylvania
  • Taught by:  D…

Gesamte Beschreibung lesen

Frequently asked questions

Es wurden noch keine FAQ hinterlegt. Falls Sie Fragen haben oder Unterstützung benötigen, kontaktieren Sie unseren Kundenservice. Wir helfen gerne weiter!

Noch nicht den perfekten Kurs gefunden? Verwandte Themen: Microsoft 365, Microsoft Office, Microsoft Office 365, SAP und Microsoft Azure.

When you enroll for courses through Coursera you get to choose for a paid plan or for a free plan

  • Free plan: No certicification and/or audit only. You will have access to all course materials except graded items.
  • Paid plan: Commit to earning a Certificate—it's a trusted, shareable way to showcase your new skills.

About this course: 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.

Created by:  University of Pennsylvania
  • Taught by:  Daniel E. Koditschek, Professor of Electrical and Systems Engineering

    School of Engineering and Applied Science
Basic Info Course 3 of 6 in the Robotics Specialization Commitment 4 weeks of study, 2-4 hours/week Language English How To Pass Pass all graded assignments to complete the course. User Ratings 3.8 stars Average User Rating 3.8See what learners said Trabajo del curso

Cada curso es como un libro de texto interactivo, con videos pregrabados, cuestionarios y proyectos.

Ayuda de tus compañeros

Conéctate con miles de estudiantes y debate ideas y materiales del curso, y obtén ayuda para dominar los conceptos.

Certificados

Obtén reconocimiento oficial por tu trabajo y comparte tu éxito con amigos, compañeros y empleadores.

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.

Syllabus


WEEK 1


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


8 videos, 3 readings, 2 practice quizzes expand


  1. Video: 0.0.0 What you will learn in this course
  2. Video: 1.0.0 What you will learn this week
  3. Video: 1.1.1 Why and how do animals move?
  4. Video: 1.1.2 Bioinspiration
  5. Video: 1.1.3 Legged Mobility: dynamic motion and the management of energy
  6. Leyendo: Setting up your MATLAB environment
  7. Leyendo: MATLAB Tutorial I - Getting Started with MATLAB
  8. Leyendo: MATLAB Tutorial II - Programming
  9. Video: 1.2.1 Review LTI Mechanical Dynamical Systems
  10. Video: 1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity
  11. Cuestionario de práctica: 1.2.2 Nonlinear mechanical systems
  12. Video: 1.2.3 Linearization & Normal Forms
  13. Cuestionario de práctica: 1.2.3 Linearizations

Graded: 1.1.1 Why and how do animals move
Graded: 1.1.2 Bioinspiration
Graded: 1.1.3 Legged Mobility: dynamic motion and the management of energy

WEEK 2


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


8 videos expand


  1. Video: 2.0.0 What you will learn this week
  2. Video: 2.1.1 Walking like a rimless wheel
  3. Video: 2.1.2 Running like a spring-loaded pendulum
  4. Video: 2.1.3 Controlling the spring-loaded inverted pendulum
  5. Video: 2.2.1 Metrics and Scaling: mass, length, strength
  6. Video: 2.2.2 Materials, manufacturing, and assembly
  7. Video: 2.2.3 Design: figures of merit, robustness
  8. Video: 2.3.1 Actuator technologies

Graded: 2.1.1 Walking like a rimless wheel
Graded: 2.1.2 Running like a spring-loaded pendulum
Graded: 2.1.3 Controlling the spring-loaded inverted pendulum
Graded: 2.2.1 Metrics and Scaling: mass, length, strength
Graded: 2.2.2 Materials, manufacturing, and assembly
Graded: 2.2.3 Design: figures of merit, robustness
Graded: 2.3.1 Actuator technologies

WEEK 3


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


6 videos expand


  1. Video: 3.0.0 What you will learn this week
  2. Video: 3.1.1 Review of kinematics
  3. Video: 3.1.2 Introduction to dynamics and control
  4. Video: 3.2.1 Sprawled posture runners
  5. Video: 3.2.2 Quadrupeds
  6. Video: 3.2.3 Bipeds

Graded: 3.1.1 Review of kinematics (MATLAB)
Graded: 3.1.2 Introduction to dynamics and control
Graded: 3.2.1 Sprawled posture runners
Graded: 3.2.2 Quadrupeds
Graded: 3.2.3 Bipeds
Graded: Simply stabilized SLIP (MATLAB)

WEEK 4


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


10 videos, 2 practice quizzes expand


  1. Video: 4.0.0 What you will learn this week
  2. Video: 4.1.1 Sequential and Parallel Composition
  3. Video: 4.2.1 Why is parallel hard?
  4. Video: (SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel
  5. Cuestionario de práctica: (SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition
  6. Video: 4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner
  7. Video: (SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
  8. Cuestionario de práctica: (SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
  9. Video: 4.3.1 Compositions of vertical hoppers
  10. Video: 4.3.2 Same composition, different bodies
  11. Video: 4.3.3 Same body, different compositions
  12. Video: 4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping

Graded: 4.1.1 Sequential and Parallel Composition
Graded: 4.2.1 Why is parallel hard?
Graded: 4.2.3a RHex
Graded: 4.3.1 Compositions of vertical hoppers
Graded: MATLAB: composition of vertical hoppers
Graded: 4.3.2 Same composition, different bodies
Graded: 4.3.3 Same body, different compositions
Graded: 4.3.4 Transitions

Werden Sie über neue Bewertungen benachrichtigt

Es wurden noch keine Bewertungen geschrieben.

Schreiben Sie eine Bewertung

Haben Sie Erfahrung mit diesem Kurs? Schreiben Sie jetzt eine Bewertung und helfen Sie Anderen dabei die richtige Weiterbildung zu wählen. Als Dankeschön spenden wir € 1,00 an Stiftung Edukans.

Es wurden noch keine FAQ hinterlegt. Falls Sie Fragen haben oder Unterstützung benötigen, kontaktieren Sie unseren Kundenservice. Wir helfen gerne weiter!

Bitte füllen Sie das Formular so vollständig wie möglich aus

(optional)
(optional)
(optional)
(optional)

Haben Sie noch Fragen?

(optional)

Anmeldung für Newsletter

Damit Ihnen per E-Mail oder Telefon weitergeholfen werden kann, speichern wir Ihre Daten.
Mehr Informationen dazu finden Sie in unseren Datenschutzbestimmungen.