About this Course

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Learner Career Outcomes

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started a new career after completing these courses

43%

got a tangible career benefit from this course
Shareable Certificate
Earn a Certificate upon completion
100% online
Start instantly and learn at your own schedule.
Course 3 of 6 in the
Flexible deadlines
Reset deadlines in accordance to your schedule.
Approx. 19 hours to complete
English

Skills you will gain

Serial Line Internet Protocol (SLIP)RoboticsRobotMatlab

Learner Career Outcomes

60%

started a new career after completing these courses

43%

got a tangible career benefit from this course
Shareable Certificate
Earn a Certificate upon completion
100% online
Start instantly and learn at your own schedule.
Course 3 of 6 in the
Flexible deadlines
Reset deadlines in accordance to your schedule.
Approx. 19 hours to complete
English

Offered by

Placeholder

University of Pennsylvania

Syllabus - What you will learn from this course

Week
1

Week 1

5 hours to complete

Introduction: Motivation and Background

5 hours to complete
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 move30m
1.1.2 Bioinspiration30m
1.1.3 Legged Mobility: dynamic motion and the management of energy30m
1.2.2 Nonlinear mechanical systems30m
1.2.3 Linearizations30m
Week
2

Week 2

5 hours to complete

Behavioral (Templates) & Physical (Bodies)

5 hours to complete
8 videos (Total 63 min)
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 wheel30m
2.1.2 Running like a spring-loaded pendulum30m
2.1.3 Controlling the spring-loaded inverted pendulum30m
2.2.1 Metrics and Scaling: mass, length, strength30m
2.2.2 Materials, manufacturing, and assembly30m
2.2.3 Design: figures of merit, robustness30m
2.3.1 Actuator technologies30m
Week
3

Week 3

4 hours to complete

Anchors: Embodied Behaviors

4 hours to complete
6 videos (Total 55 min)
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)30m
3.1.2 Introduction to dynamics and control30m
3.2.1 Sprawled posture runners30m
3.2.2 Quadrupeds30m
3.2.3 Bipeds30m
Simply stabilized SLIP (MATLAB)30m
Week
4

Week 4

6 hours to complete

Composition (Programming Work)

6 hours to complete
10 videos (Total 75 min)
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 Composition30m
4.2.1 Why is parallel hard?30m
(SUPPLEMENTARY) 4.2.2 SLIP as a parallel composition30m
4.2.3a RHex30m
(SUPPLEMENTARY) 4.2.3b Clocked RHex gaits30m
4.3.1 Compositions of vertical hoppers30m
MATLAB: composition of vertical hoppers30m
4.3.2 Same composition, different bodies30m
4.3.3 Same body, different compositions30m
4.3.4 Transitions30m

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