Acerca de este curso: 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.
Creada por: University of Pennsylvania
Enseñado por: Daniel E. Koditschek, Professor of Electrical and Systems Engineering
School of Engineering and Applied Science
| Información básica | Curso 3 de 6 en Robotics Specialization |
| Compromiso | 4 weeks of study, 2-4 hours/week |
| Idioma | Inglés (English) |
| Cómo aprobar | Aprueba todas las tareas calificadas para completar el curso. |
| Calificaciones del usuario |
Programa
SEMANA 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 lecturas, 2 cuestionarios de práctica
- Vídeo: 1.0.0 What you will learn this week
- Vídeo: 1.1.1 Why and how do animals move?
- Vídeo: 1.1.2 Bioinspiration
- Vídeo: 1.1.3 Legged Mobility: dynamic motion and the management of energy
- Reading: Setting up your MATLAB environment
- Reading: MATLAB Tutorial I - Getting Started with MATLAB
- Reading: MATLAB Tutorial II - Programming
- Vídeo: 1.2.1 Review LTI Mechanical Dynamical Systems
- Vídeo: 1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity
- Practice Quiz: 1.2.2 Nonlinear mechanical systems
- Vídeo: 1.2.3 Linearization & Normal Forms
- Practice Quiz: 1.2.3 Linearizations
Calificado: 1.1.1 Why and how do animals move
Calificado: 1.1.2 Bioinspiration
Calificado: 1.1.3 Legged Mobility: dynamic motion and the management of energy
SEMANA 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
- Vídeo: 2.1.1 Walking like a rimless wheel
- Vídeo: 2.1.2 Running like a spring-loaded pendulum
- Vídeo: 2.1.3 Controlling the spring-loaded inverted pendulum
- Vídeo: 2.2.1 Metrics and Scaling: mass, length, strength
- Vídeo: 2.2.2 Materials, manufacturing, and assembly
- Vídeo: 2.2.3 Design: figures of merit, robustness
- Vídeo: 2.3.1 Actuator technologies
Calificado: 2.1.1 Walking like a rimless wheel
Calificado: 2.1.2 Running like a spring-loaded pendulum
Calificado: 2.1.3 Controlling the spring-loaded inverted pendulum
Calificado: 2.2.1 Metrics and Scaling: mass, length, strength
Calificado: 2.2.2 Materials, manufacturing, and assembly
Calificado: 2.2.3 Design: figures of merit, robustness
Calificado: 2.3.1 Actuator technologies
SEMANA 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
- Vídeo: 3.1.1 Review of kinematics
- Vídeo: 3.1.2 Introduction to dynamics and control
- Vídeo: 3.2.1 Sprawled posture runners
- Vídeo: 3.2.2 Quadrupeds
- Vídeo: 3.2.3 Bipeds
Calificado: 3.1.1 Review of kinematics (MATLAB)
Calificado: 3.1.2 Introduction to dynamics and control
Calificado: 3.2.1 Sprawled posture runners
Calificado: 3.2.2 Quadrupeds
Calificado: 3.2.3 Bipeds
Calificado: Simply stabilized SLIP (MATLAB)
SEMANA 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 cuestionarios de práctica
- Vídeo: 4.1.1 Sequential and Parallel Composition
- Vídeo: 4.2.1 Why is parallel hard?
- Vídeo: (SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel
- Practice Quiz: (SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition
- Vídeo: 4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner
- Vídeo: (SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
- Practice Quiz: (SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
- Vídeo: 4.3.1 Compositions of vertical hoppers
- Vídeo: 4.3.2 Same composition, different bodies
- Vídeo: 4.3.3 Same body, different compositions
- Vídeo: 4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping
Calificado: 4.1.1 Sequential and Parallel Composition
Calificado: 4.2.1 Why is parallel hard?
Calificado: 4.2.3a RHex
Calificado: 4.3.1 Compositions of vertical hoppers
Calificado: MATLAB: composition of vertical hoppers
Calificado: 4.3.2 Same composition, different bodies
Calificado: 4.3.3 Same body, different compositions
Calificado: 4.3.4 Transitions
Preguntas Frecuentes
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Creadores
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.
Tarifa
| Comprar curso | |
|---|---|
| Accede a los materiales del curso | Disponible |
| Accede a los materiales con calificación | Disponible |
| Recibe una calificación final | Disponible |
| Obtén un Certificado de curso para compartir | Disponible |
Calificaciones y revisiones
One of the foremost things I liked about the course was the insight on biomechanics and their applications to real-world robots, such as the ones at Boston Dynamics. The course presents a lot of contemporary work along with giving details of how legged mobility came to it's current form over years of research!
课程很不错，可以一睹大师的风采！
Very detailed course covering many different topics/aspects of limbed robotics. Plenty of connections with previous research. Lots of inspiration and comparison with biological system.
Presentations by Prof Koditschek's grad students are quite dense and fast-moving and many of the terms are hard to understand upon first contact.
Some quizzes have funny passing criteria - 80% required to pass in a 3-question quiz is effectively stating that we need to get all questions correct.
The Matlab exercises were very instructive. While they provided an opportunity to develop intuition about the problem, I would have appreciated more exercises that would allow us to develop practitioner's ability. But I do realize that this would be difficult to auto-grade.
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SY
Excellent Course. The videos are very interesting and keep you hooked. The supplementary material and the videos by the Doctoral candidates are also worth praise. Professor Koditschek does a great job of conveying the maximum amount of content in the duration available.