Robotics: Mobility
list 4 sequences
assignment Level : Introductive
chat_bubble_outline Language : English
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Key Information

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verified_user Fee-based Certificate
timer 8 hours in total

About the content

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.

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Syllabus

  • Week 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 machi...
  • Week 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 mo...
  • Week 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...
  • Week 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 w...
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Instructors

Daniel E. Koditschek
Professor of Electrical and Systems Engineering
School of Engineering and Applied Science

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Content Designer

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.
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Platform

Coursera

Coursera is a digital company offering massive open online course founded by computer teachers Andrew Ng and Daphne Koller Stanford University, located in Mountain View, California. 

Coursera works with top universities and organizations to make some of their courses available online, and offers courses in many subjects, including: physics, engineering, humanities, medicine, biology, social sciences, mathematics, business, computer science, digital marketing, data science, and other subjects.

Reviews
3 /5 Average
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Best Review

the problem of mobility can not be well covered in short time, but this course gives a good introduction to problems applications and reference materials

Anonymous
Published on January 28, 2018
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Content
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January 30, 2018
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COuld have been better if it recommended some prerequisitives. It was a really challenging one especially it requiring background knowledge. Course could provide relevant background study references that are related to the questions asked rather than asking them to forage through the resources section and try to read everything. While it definitely gives a better understanding if one reads the resources. I read one or two papers and they helped me understand the material a little better. What I demand though is provision of relevant resources. Then I would give it 5 stars.

January 28, 2018
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the problem of mobility can not be well covered in short time, but this course gives a good introduction to problems applications and reference materials

January 22, 2018
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The course is very interesting and full of valuable information, but the evaluations were made to fail. It requires a lot of additional research and the apparent intention of not passing the different quizzes becomes almost frustrating. It is full of tricky questions.

December 14, 2017
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I have to take this course because I would like to go for the capstone. This course is so poorly-designed. Don't expect to learn much from it.

December 10, 2017
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By this course , being the student and begineer in the study of Robotics.this course gave me the extent knowledge of Robotics:mobility.thankyou professor and coursera team providing such good stuffs online to the people like us.