Robotics: Locomotion Engineering
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assignment 等级:高级
chat_bubble_outline 语言:英语
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How do robots climb stairs, traverse shifting sand and navigate through hilly and rocky terrain?

This course, part of the Robotics MicroMasters program, will teach you how to think about complex mobility challenges that arise when robots are deployed in unstructured human and natural environments.

You will learn how to design and program the sequence of energetic interactions that must occur between sensors and mechanical actuators in order to ensure stable mobility. We will expose you to underlying and still actively developing concepts, while providing you with practical examples and projects.

  • The design and analysis of agile, bioinspired, sensorimotor systems
  • How to develop simplified models of complex dynamic systems
  • Ways to utilize simplified models to achieve dynamical mobility tasks

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  • 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 ROBO3x, certain linear algebra techniques in the ROBO1x, and various ideas and techniques presented in the ROBO2x.



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



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



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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