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다음 전문 분야의 6개 강좌 중 3번째 강좌:

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지금 바로 시작해 나만의 일정에 따라 학습을 진행하세요.

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완료하는 데 약 22시간 필요

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

영어

자막: 영어

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Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab

다음 전문 분야의 6개 강좌 중 3번째 강좌:

100% 온라인

지금 바로 시작해 나만의 일정에 따라 학습을 진행하세요.

유동적 마감일

일정에 따라 마감일을 재설정합니다.

완료하는 데 약 22시간 필요

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

영어

자막: 영어

강의 계획 - 이 강좌에서 배울 내용

1
완료하는 데 3시간 필요

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 (Total 104 min), 3 readings, 5 quizzes
8개의 동영상
1.1.2 Bioinspiration9m
1.1.3 Legged Mobility: dynamic motion and the management of energy17m
1.2.1 Review LTI Mechanical Dynamical Systems26m
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22m
1.2.3 Linearization & Normal Forms11m
3개의 읽기 자료
Setting up your MATLAB environment10m
MATLAB Tutorial I - Getting Started with MATLAB10m
MATLAB Tutorial II - Programming10m
5개 연습문제
1.1.1 Why and how do animals move8m
1.1.2 Bioinspiration8m
1.1.3 Legged Mobility: dynamic motion and the management of energy8m
1.2.2 Nonlinear mechanical systems8m
1.2.3 Linearizations4m
2
완료하는 데 2시간 필요

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 (Total 63 min), 7 quizzes
8개의 동영상
2.1.3 Controlling the spring-loaded inverted pendulum8m
2.2.1 Metrics and Scaling: mass, length, strength3m
2.2.2 Materials, manufacturing, and assembly5m
2.2.3 Design: figures of merit, robustness3m
2.3.1 Actuator technologies10m
7개 연습문제
2.1.1 Walking like a rimless wheel8m
2.1.2 Running like a spring-loaded pendulum8m
2.1.3 Controlling the spring-loaded inverted pendulum8m
2.2.1 Metrics and Scaling: mass, length, strength8m
2.2.2 Materials, manufacturing, and assembly8m
2.2.3 Design: figures of merit, robustness12m
2.3.1 Actuator technologies8m
3
완료하는 데 2시간 필요

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 (Total 55 min), 6 quizzes
6개의 동영상
3.2.1 Sprawled posture runners10m
3.2.2 Quadrupeds6m
3.2.3 Bipeds9m
6개 연습문제
3.1.1 Review of kinematics (MATLAB)8m
3.1.2 Introduction to dynamics and control6m
3.2.1 Sprawled posture runners8m
3.2.2 Quadrupeds8m
3.2.3 Bipeds6m
Simply stabilized SLIP (MATLAB)12m
4
완료하는 데 2시간 필요

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 (Total 75 min), 10 quizzes
10개의 동영상
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6m
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16m
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11m
4.3.1 Compositions of vertical hoppers4m
4.3.2 Same composition, different bodies8m
4.3.3 Same body, different compositions4m
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5m
10개 연습문제
4.1.1 Sequential and Parallel Composition6m
4.2.1 Why is parallel hard?6m
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6m
4.2.3a RHex4m
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4m
4.3.1 Compositions of vertical hoppers10m
MATLAB: composition of vertical hoppers12m
4.3.2 Same composition, different bodies6m
4.3.3 Same body, different compositions4m
4.3.4 Transitions8m
3.9
110개의 리뷰Chevron Right

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Robotics: Mobility의 최상위 리뷰

대학: 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.

대학: 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 !

강사

Avatar

Daniel E. Koditschek

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

펜실베이니아 대학교 정보

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. ...

로봇 공학 전문 분야 정보

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....
로봇 공학

자주 묻는 질문

  • 강좌에 등록하면 바로 모든 비디오, 테스트 및 프로그래밍 과제(해당하는 경우)에 접근할 수 있습니다. 상호 첨삭 과제는 이 세션이 시작된 경우에만 제출하고 검토할 수 있습니다. 강좌를 구매하지 않고 살펴보기만 하면 특정 과제에 접근하지 못할 수 있습니다.

  • 강좌를 등록하면 전문 분야의 모든 강좌에 접근할 수 있고 강좌를 완료하면 수료증을 취득할 수 있습니다. 전자 수료증이 성취도 페이지에 추가되며 해당 페이지에서 수료증을 인쇄하거나 LinkedIn 프로필에 수료증을 추가할 수 있습니다. 강좌 내용만 읽고 살펴보려면 해당 강좌를 무료로 청강할 수 있습니다.

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