Robotics: Locomotion Engineering

Robotics: Locomotion Engineering

Course
en
English
96 h
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Conditions
  • Self-paced
  • Free Access
  • Fee-based Certificate
More info
  • 12 Sequences
  • Advanced Level

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Course details

Syllabus

Week 1: Big-Picture Motivation
Week 2: A Linear Time Invariant Mechanical System
Week 3: A Nonlinear Time Invariant Mechanical System
Week 4: Project #1: A Brachiating Robot
Week 5: Qualitative Theory of Dynamical Systems
Week 6: First Locomotion Model
Week 7: A Vertical Hopping Controller
Week 8: Project #2: From Bouncing Ball to Stable Hopper
Week 9: The Spring Loaded Inverted Pendulum (SLIP)
Week 10: Stepping Control of Fore-aft Speed
Week 11: Project #3: Anchoring SLIP in Multi-Jointed Mechanisms
Week 12: Project #4: A Running Controller for the Jerboa Robot

Prerequisite

  • Good understanding of multivariable calculus and some prior exposure to linear algebra and ordinary differential equations.
  • We will be making specific use of the kinematics and dynamics ideas developed in the , certain linear algebra techniques in the , and various ideas and techniques presented in the .

Instructors

Dan Koditschek
Alfred Fitler Moore Professor, School of Engineering and Applied Science
University of Pennsylvania

Editor

The University of Pennsylvania (commonly known as Penn), founded in 1740, is a private university located in Philadelphia, Pennsylvania, USA. A member of the Ivy League, Penn is the fourth oldest institution of higher learning in the United States and considers itself the first university in the United States to offer both undergraduate and graduate degrees.

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