課程信息
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第 3 門課程(共 6 門)

100% 在線

立即開始,按照自己的計劃學習。

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22 小時

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

英語(English)

字幕:英語(English)
User
學習Course的學生是
  • Machine Learning Engineers
  • Data Scientists
  • Research Assistants
  • Engineers
  • Software Engineers

您將獲得的技能

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab
User
學習Course的學生是
  • Machine Learning Engineers
  • Data Scientists
  • Research Assistants
  • Engineers
  • Software Engineers

第 3 門課程(共 6 門)

100% 在線

立即開始,按照自己的計劃學習。

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22 小時

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

英語(English)

字幕:英語(English)

教學大綱 - 您將從這門課程中學到什麼

1
完成時間為 3 小時

Introduction: Motivation and Background

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 move8分鐘
1.1.2 Bioinspiration8分鐘
1.1.3 Legged Mobility: dynamic motion and the management of energy8分鐘
1.2.2 Nonlinear mechanical systems8分鐘
1.2.3 Linearizations4分鐘
2
完成時間為 2 小時

Behavioral (Templates) & Physical (Bodies)

8 個視頻 (總計 63 分鐘), 7 個測驗
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 wheel8分鐘
2.1.2 Running like a spring-loaded pendulum8分鐘
2.1.3 Controlling the spring-loaded inverted pendulum8分鐘
2.2.1 Metrics and Scaling: mass, length, strength8分鐘
2.2.2 Materials, manufacturing, and assembly8分鐘
2.2.3 Design: figures of merit, robustness12分鐘
2.3.1 Actuator technologies8分鐘
3
完成時間為 2 小時

Anchors: Embodied Behaviors

6 個視頻 (總計 55 分鐘), 6 個測驗
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)8分鐘
3.1.2 Introduction to dynamics and control6分鐘
3.2.1 Sprawled posture runners8分鐘
3.2.2 Quadrupeds8分鐘
3.2.3 Bipeds6分鐘
Simply stabilized SLIP (MATLAB)12分鐘
4
完成時間為 2 小時

Composition (Programming Work)

10 個視頻 (總計 75 分鐘), 10 個測驗
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 Composition6分鐘
4.2.1 Why is parallel hard?6分鐘
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6分鐘
4.2.3a RHex4分鐘
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4分鐘
4.3.1 Compositions of vertical hoppers10分鐘
MATLAB: composition of vertical hoppers12分鐘
4.3.2 Same composition, different bodies6分鐘
4.3.3 Same body, different compositions4分鐘
4.3.4 Transitions8分鐘
3.9
115 個審閱Chevron Right

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

來自Robotics: Mobility的熱門評論

創建者 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.

創建者 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 !

講師

Avatar

Daniel E. Koditschek

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

關於 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. ...

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....
机器人

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