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Robotics: Mobility

Approx. 19 hours to complete

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Course Summary

This course on Robotics Mobility covers the basics of robot motion, kinematics, and control. Students will learn about sensors, actuators, and algorithms necessary for autonomous robot navigation.

Key Learning Points

Gain a fundamental understanding of robot motion, kinematics, and control
Learn about sensors, actuators, and algorithms necessary for autonomous robot navigation
Develop skills in robot programming and motion planning

Learning Outcomes

Understand the basics of robot motion, kinematics, and control
Develop skills in autonomous robot navigation
Gain the ability to program and plan robot motion

Prerequisites or good to have knowledge before taking this course

Basic knowledge of programming
Familiarity with linear algebra and calculus

Course Difficulty Level

Intermediate

Course Format

Online
Self-paced

Similar Courses

Robotics: Perception
Robotics: Planning and Navigation
Introduction to Robotics

Related Education Paths

Notable People in This Field

Rodney Brooks
Helen Greiner
Ayanna Howard

Related Books

Description

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.

Outline

Introduction: Motivation and Background
0.0.0 What you will learn in this course
1.0.0 What you will learn this week
1.1.1 Why and how do animals move?
1.1.2 Bioinspiration
1.1.3 Legged Mobility: dynamic motion and the management of energy
1.2.1 Review LTI Mechanical Dynamical Systems
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity
1.2.3 Linearization & Normal Forms
Setting up your MATLAB environment
MATLAB Tutorial I - Getting Started with MATLAB
MATLAB Tutorial II - Programming
1.1.1 Why and how do animals move
1.1.2 Bioinspiration
1.1.3 Legged Mobility: dynamic motion and the management of energy
1.2.2 Nonlinear mechanical systems
1.2.3 Linearizations

Behavioral (Templates) & Physical (Bodies)
2.0.0 What you will learn this week
2.1.1 Walking like a rimless wheel
2.1.2 Running like a spring-loaded pendulum
2.1.3 Controlling the spring-loaded inverted pendulum
2.2.1 Metrics and Scaling: mass, length, strength
2.2.2 Materials, manufacturing, and assembly
2.2.3 Design: figures of merit, robustness
2.3.1 Actuator technologies
2.1.1 Walking like a rimless wheel
2.1.2 Running like a spring-loaded pendulum
2.1.3 Controlling the spring-loaded inverted pendulum
2.2.1 Metrics and Scaling: mass, length, strength
2.2.2 Materials, manufacturing, and assembly
2.2.3 Design: figures of merit, robustness
2.3.1 Actuator technologies

Anchors: Embodied Behaviors
3.0.0 What you will learn this week
3.1.1 Review of kinematics
3.1.2 Introduction to dynamics and control
3.2.1 Sprawled posture runners
3.2.2 Quadrupeds
3.2.3 Bipeds
3.1.1 Review of kinematics (MATLAB)
3.1.2 Introduction to dynamics and control
3.2.1 Sprawled posture runners
3.2.2 Quadrupeds
3.2.3 Bipeds
Simply stabilized SLIP (MATLAB)

Composition (Programming Work)
4.0.0 What you will learn this week
4.1.1 Sequential and Parallel Composition
4.2.1 Why is parallel hard?
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
4.3.1 Compositions of vertical hoppers
4.3.2 Same composition, different bodies
4.3.3 Same body, different compositions
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping
4.1.1 Sequential and Parallel Composition
4.2.1 Why is parallel hard?
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition
4.2.3a RHex
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits
4.3.1 Compositions of vertical hoppers
MATLAB: composition of vertical hoppers
4.3.2 Same composition, different bodies
4.3.3 Same body, different compositions
4.3.4 Transitions

Summary of User Reviews

Key Aspect Users Liked About This Course

hands-on learning experience

Pros from User Reviews

Great hands-on learning experience
Well-structured course material
Engaging and knowledgeable instructors
Excellent community support
Real-world applications

Cons from User Reviews

Some technical difficulties with the platform
Limited access to course material after completion
Challenging assignments
Not suitable for complete beginners
Requires prior knowledge in programming and robotics

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