Об этом курсе
3.8
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Рецензии: 103
Специализация

Курс 3 из 6 в программе

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Часов на завершение

Прибл. 23 часа на выполнение

Предполагаемая нагрузка: 4 weeks of study, 2-4 hours/week...
Доступные языки

Английский

Субтитры: Английский

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Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab
Специализация

Курс 3 из 6 в программе

100% онлайн

100% онлайн

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Гибкие сроки

Гибкие сроки

Назначьте сроки сдачи в соответствии со своим графиком.
Часов на завершение

Прибл. 23 часа на выполнение

Предполагаемая нагрузка: 4 weeks of study, 2-4 hours/week...
Доступные языки

Английский

Субтитры: Английский

Программа курса: что вы изучите

Неделя
1
Часов на завершение
3 ч. на завершение

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 видео ((всего 104 мин.)), 3 материалов для самостоятельного изучения, 5 тестов
Video8 видео
1.0.0 What you will learn this week3мин
1.1.1 Why and how do animals move?10мин
1.1.2 Bioinspiration9мин
1.1.3 Legged Mobility: dynamic motion and the management of energy17мин
1.2.1 Review LTI Mechanical Dynamical Systems26мин
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22мин
1.2.3 Linearization & Normal Forms11мин
Reading3 материала для самостоятельного изучения
Setting up your MATLAB environment10мин
MATLAB Tutorial I - Getting Started with MATLAB10мин
MATLAB Tutorial II - Programming10мин
Quiz5 практического упражнения
1.1.1 Why and how do animals move8мин
1.1.2 Bioinspiration8мин
1.1.3 Legged Mobility: dynamic motion and the management of energy8мин
1.2.2 Nonlinear mechanical systems8мин
1.2.3 Linearizations4мин
Неделя
2
Часов на завершение
2 ч. на завершение

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 видео ((всего 63 мин.)), 7 тестов
Video8 видео
2.1.1 Walking like a rimless wheel15мин
2.1.2 Running like a spring-loaded pendulum11мин
2.1.3 Controlling the spring-loaded inverted pendulum8мин
2.2.1 Metrics and Scaling: mass, length, strength3мин
2.2.2 Materials, manufacturing, and assembly5мин
2.2.3 Design: figures of merit, robustness3мин
2.3.1 Actuator technologies10мин
Quiz7 практического упражнения
2.1.1 Walking like a rimless wheel8мин
2.1.2 Running like a spring-loaded pendulum8мин
2.1.3 Controlling the spring-loaded inverted pendulum8мин
2.2.1 Metrics and Scaling: mass, length, strength8мин
2.2.2 Materials, manufacturing, and assembly8мин
2.2.3 Design: figures of merit, robustness12мин
2.3.1 Actuator technologies8мин
Неделя
3
Часов на завершение
2 ч. на завершение

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 видео ((всего 55 мин.)), 6 тестов
Video6 видео
3.1.1 Review of kinematics7мин
3.1.2 Introduction to dynamics and control15мин
3.2.1 Sprawled posture runners10мин
3.2.2 Quadrupeds6мин
3.2.3 Bipeds9мин
Quiz6 практического упражнения
3.1.1 Review of kinematics (MATLAB)8мин
3.1.2 Introduction to dynamics and control6мин
3.2.1 Sprawled posture runners8мин
3.2.2 Quadrupeds8мин
3.2.3 Bipeds6мин
Simply stabilized SLIP (MATLAB)12мин
Неделя
4
Часов на завершение
2 ч. на завершение

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 видео ((всего 75 мин.)), 10 тестов
Video10 видео
4.1.1 Sequential and Parallel Composition4мин
4.2.1 Why is parallel hard?8мин
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6мин
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16мин
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11мин
4.3.1 Compositions of vertical hoppers4мин
4.3.2 Same composition, different bodies8мин
4.3.3 Same body, different compositions4мин
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5мин
Quiz10 практического упражнения
4.1.1 Sequential and Parallel Composition6мин
4.2.1 Why is parallel hard?6мин
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6мин
4.2.3a RHex4мин
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4мин
4.3.1 Compositions of vertical hoppers10мин
MATLAB: composition of vertical hoppers12мин
4.3.2 Same composition, different bodies6мин
4.3.3 Same body, different compositions4мин
4.3.4 Transitions8мин
3.8
Рецензии: 103Chevron Right
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50%

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Лучшие рецензии

автор: 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.

автор: 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 !

Преподаватель

Avatar

Daniel E. Koditschek

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

О 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. ...

О специализации ''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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