About this Course
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Approx. 22 hours to complete

Suggested: 4 weeks of study, 2-4 hours/week...

English

Subtitles: English

Skills you will gain

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab

Course 3 of 6 in the

100% online

Start instantly and learn at your own schedule.

Flexible deadlines

Reset deadlines in accordance to your schedule.

Approx. 22 hours to complete

Suggested: 4 weeks of study, 2-4 hours/week...

English

Subtitles: English

Syllabus - What you will learn from this course

Week
1
3 hours to complete

Introduction: Motivation and Background

8 videos (Total 104 min), 3 readings, 5 quizzes
8 videos
1.0.0 What you will learn this week3m
1.1.1 Why and how do animals move?10m
1.1.2 Bioinspiration9m
1.1.3 Legged Mobility: dynamic motion and the management of energy17m
1.2.1 Review LTI Mechanical Dynamical Systems26m
1.2.2 Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in gravity22m
1.2.3 Linearization & Normal Forms11m
3 readings
Setting up your MATLAB environment10m
MATLAB Tutorial I - Getting Started with MATLAB10m
MATLAB Tutorial II - Programming10m
5 practice exercises
1.1.1 Why and how do animals move8m
1.1.2 Bioinspiration8m
1.1.3 Legged Mobility: dynamic motion and the management of energy8m
1.2.2 Nonlinear mechanical systems8m
1.2.3 Linearizations4m
Week
2
2 hours to complete

Behavioral (Templates) & Physical (Bodies)

8 videos (Total 63 min), 7 quizzes
8 videos
2.1.1 Walking like a rimless wheel15m
2.1.2 Running like a spring-loaded pendulum11m
2.1.3 Controlling the spring-loaded inverted pendulum8m
2.2.1 Metrics and Scaling: mass, length, strength3m
2.2.2 Materials, manufacturing, and assembly5m
2.2.3 Design: figures of merit, robustness3m
2.3.1 Actuator technologies10m
7 practice exercises
2.1.1 Walking like a rimless wheel8m
2.1.2 Running like a spring-loaded pendulum8m
2.1.3 Controlling the spring-loaded inverted pendulum8m
2.2.1 Metrics and Scaling: mass, length, strength8m
2.2.2 Materials, manufacturing, and assembly8m
2.2.3 Design: figures of merit, robustness12m
2.3.1 Actuator technologies8m
Week
3
2 hours to complete

Anchors: Embodied Behaviors

6 videos (Total 55 min), 6 quizzes
6 videos
3.1.1 Review of kinematics7m
3.1.2 Introduction to dynamics and control15m
3.2.1 Sprawled posture runners10m
3.2.2 Quadrupeds6m
3.2.3 Bipeds9m
6 practice exercises
3.1.1 Review of kinematics (MATLAB)8m
3.1.2 Introduction to dynamics and control6m
3.2.1 Sprawled posture runners8m
3.2.2 Quadrupeds8m
3.2.3 Bipeds6m
Simply stabilized SLIP (MATLAB)12m
Week
4
2 hours to complete

Composition (Programming Work)

10 videos (Total 75 min), 10 quizzes
10 videos
4.1.1 Sequential and Parallel Composition4m
4.2.1 Why is parallel hard?8m
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel vertical hopper and rimless wheel6m
4.2.3a RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner16m
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits11m
4.3.1 Compositions of vertical hoppers4m
4.3.2 Same composition, different bodies8m
4.3.3 Same body, different compositions4m
4.3.4 Transitions: RHex, Jerboa, and Minitaur leaping5m
10 practice exercises
4.1.1 Sequential and Parallel Composition6m
4.2.1 Why is parallel hard?6m
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition6m
4.2.3a RHex4m
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits4m
4.3.1 Compositions of vertical hoppers10m
MATLAB: composition of vertical hoppers12m
4.3.2 Same composition, different bodies6m
4.3.3 Same body, different compositions4m
4.3.4 Transitions8m
3.9
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Top reviews from Robotics: Mobility

By TMJun 5th 2017

The material itself is worth a few stars. Clearly lots of work has gone into making some interesting interactive matlab demos. some of the quizzes are unnecessarily confusing.

By PRAug 21st 2017

Very vast and intuitive course.I found all the information required to design my own legged robot ! I will try and design my own . Thank you so much !

Instructor

Avatar

Daniel E. Koditschek

Professor of Electrical and Systems Engineering
School of Engineering and Applied Science

About 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. ...

About the Robotics Specialization

The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects....
Robotics

Frequently Asked Questions

  • Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.

  • When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.

More questions? Visit the Learner Help Center.