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.
提供方
机器人 專項課程宾夕法尼亚大学課程信息
25,640 次近期查看
學生職業成果
60%
完成這些課程後已開始新的職業生涯
43%
通過此課程獲得實實在在的工作福利
可分享的證書
完成後獲得證書
100% 在線
立即開始，按照自己的計劃學習。
第 3 門課程（共 6 門）
可靈活調整截止日期
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完成時間大約為19 小時
英語（English）
字幕：法語（French）, 巴西葡萄牙語, 俄語（Russian）, 英語（English）, 西班牙語（Spanish）
您將獲得的技能
Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab
學生職業成果
60%
完成這些課程後已開始新的職業生涯
43%
通過此課程獲得實實在在的工作福利
可分享的證書
完成後獲得證書
100% 在線
立即開始，按照自己的計劃學習。
第 3 門課程（共 6 門）
可靈活調整截止日期
根據您的日程表重置截止日期。
完成時間大約為19 小時
英語（English）
字幕：法語（French）, 巴西葡萄牙語, 俄語（Russian）, 英語（English）, 西班牙語（Spanish）
提供方
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.
教學大綱 - 您將從這門課程中學到什麼
完成時間為 5 小時
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.
完成時間為 5 小時
8 個視頻 （總計 104 分鐘）, 3 個閱讀材料, 5 個測驗
8 個視頻
1.0.0 What you will learn this week3分鐘
1.1.1 Why and how do animals move?10分鐘
1.1.2 Bioinspiration9分鐘
1.1.3 Legged Mobility: dynamic motion and the management of energy17分鐘
1.2.1 Review LTI Mechanical Dynamical Systems26分鐘
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22分鐘
1.2.3 Linearization & Normal Forms11分鐘
3 個閱讀材料
Setting up your MATLAB environment10分鐘
MATLAB Tutorial I - Getting Started with MATLAB10分鐘
MATLAB Tutorial II - Programming10分鐘
5 個練習
1.1.1 Why and how do animals move30分鐘
1.1.2 Bioinspiration30分鐘
1.1.3 Legged Mobility: dynamic motion and the management of energy30分鐘
1.2.2 Nonlinear mechanical systems30分鐘
1.2.3 Linearizations30分鐘
完成時間為 5 小時
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.
完成時間為 5 小時
8 個視頻 （總計 63 分鐘）
8 個視頻
2.1.1 Walking like a rimless wheel15分鐘
2.1.2 Running like a spring-loaded pendulum11分鐘
2.1.3 Controlling the spring-loaded inverted pendulum8分鐘
2.2.1 Metrics and Scaling: mass, length, strength3分鐘
2.2.2 Materials, manufacturing, and assembly5分鐘
2.2.3 Design: figures of merit, robustness3分鐘
2.3.1 Actuator technologies10分鐘
7 個練習
2.1.1 Walking like a rimless wheel30分鐘
2.1.2 Running like a spring-loaded pendulum30分鐘
2.1.3 Controlling the spring-loaded inverted pendulum30分鐘
2.2.1 Metrics and Scaling: mass, length, strength30分鐘
2.2.2 Materials, manufacturing, and assembly30分鐘
2.2.3 Design: figures of merit, robustness30分鐘
2.3.1 Actuator technologies30分鐘
完成時間為 4 小時
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.
完成時間為 4 小時
6 個視頻 （總計 55 分鐘）
6 個視頻
3.1.1 Review of kinematics7分鐘
3.1.2 Introduction to dynamics and control15分鐘
3.2.1 Sprawled posture runners10分鐘
3.2.2 Quadrupeds6分鐘
3.2.3 Bipeds9分鐘
6 個練習
3.1.1 Review of kinematics (MATLAB)30分鐘
3.1.2 Introduction to dynamics and control30分鐘
3.2.1 Sprawled posture runners30分鐘
3.2.2 Quadrupeds30分鐘
3.2.3 Bipeds30分鐘
Simply stabilized SLIP (MATLAB)30分鐘
完成時間為 6 小時
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.
完成時間為 6 小時
10 個視頻 （總計 75 分鐘）
10 個視頻
4.1.1 Sequential and Parallel Composition4分鐘
4.2.1 Why is parallel hard?8分鐘
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6分鐘
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16分鐘
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11分鐘
4.3.1 Compositions of vertical hoppers4分鐘
4.3.2 Same composition, different bodies8分鐘
4.3.3 Same body, different compositions4分鐘
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5分鐘
10 個練習
4.1.1 Sequential and Parallel Composition30分鐘
4.2.1 Why is parallel hard?30分鐘
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition30分鐘
4.2.3a RHex30分鐘
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits30分鐘
4.3.1 Compositions of vertical hoppers30分鐘
MATLAB: composition of vertical hoppers30分鐘
4.3.2 Same composition, different bodies30分鐘
4.3.3 Same body, different compositions30分鐘
4.3.4 Transitions30分鐘
審閱
來自ROBOTICS: MOBILITY的熱門評論
由 TM 提供2017年6月4日
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.
由 AR 提供2019年1月9日
The Course is great so far. I hope there was coverage on Wheeled Robots. Also the questions in the last week were a bit confusing. Thanks for making this course available.
由 SG 提供2018年6月11日
This course gives a very good overview of bio mechanics & control but to understand the concepts thoroughly one need to go through the research papers.
由 PR 提供2017年8月20日
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 !
關於 机器人 專項課程
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.
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