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edX Robotics: Locomotion Engineering

University of Pennsylvania via edX

  • Overview
  1. edX
    University of Pennsylvania
    12 weeks
    8 to 10 hours per week
    Paid Certificate Available
    Part of:
    MicroMasters Program: Robotics
    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.

    What you'll learn
    • 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
    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

    Taught by
    Dan Koditschek

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