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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/robotics-mobility
课程评论：没有评论
课程名称：机器人学：移动性 概述：本课程探讨机器人如何利用马达和传感器在非结构化环境中移动。您将学习如何设计机器人身体和行为，利用四肢等附属肢体施加物理力量，从而在复杂而动态的世界中实现可靠的移动性。课程将介绍一种组合简单动力学抽象的方法，部分自动化生成复杂的传感器-运动程序。具体主题包括动物与机器人移动性、行走机器的运动学与动力学，以及通过能量景观设计动态行为。 课程大纲： 第一部分：引言：动机与背景 描述：我们将从动物这一自然界移动性的典范开始，采用生物启发而非生物模仿的观点，提取原则而非外观，系统应用于机器中。随后关注四肢和尾巴作为运动来源，并简要介绍肢体机器人移动性的物理和数学基础，包括线性弹簧-质量-阻尼系统的讨论、摆的动力学，以及稳定性和能量盆地的处理。 第二部分：行为（模板）与物理（身体） 描述：我们将关注基本的“模板”行为组件，这些简单机制的运动是动物和机器人步态策略的基础。我们将讨论“指南针步态”与弹簧加载反向摆的概念，接着回顾物理组成部分，包括物理缩放法则和材料的性质，以及驱动机器人力量与扭矩的执行器的科学与技术。 第三部分：锚点：具身行为 描述：将物理链接和关节组合在一起，理解其协调运动所需的几何和物理学。我们将学习自由度的几何形状、牛顿力学的简洁表达以及不同动物形态如何教导我们设计四肢机器人，包括六足和四足机器人的步态对比，并讨论双足机器人的速率与设计选择。 第四部分：组合（编程工作） 描述：我们介绍动态组合的概念，分为时间上的“顺序”组合和空间上的“并行”组合。重点讨论并行组合的历史，并审视不同的组合如何在各种复杂形态上发挥作用。最后，我们将探讨关于跳跃等过渡行为的最新研究进展。
Part: 1
Title:Introduction: Motivation and Background
Description:We start with a general consideration of animals, the exemplar of mobility in nature. This leads us to adopt the stance of bioinspiration rather than biomimicry, i.e., extracting principles rather than appearances and applying them systematically to our machines. A little more thinking about typical animal mobility leads us to focus on appendages – limbs and tails – as sources of motion. The second portion of the week offers a bit of background on the physical and mathematical foundations of limbed robotic mobility. We start with a linear spring-mass-damper system and consider the second order ordinary differential equation that describes it as a first order dynamical system. We then treat the simple pendulum – the simplest revolute kinematic limb – in the same manner just to give a taste for the nature of nonlinear dynamics that inevitably arise in robotics. We’ll finish with a treatment of stability and energy basins.
Part: 2
Title:Behavioral (Templates) & Physical (Bodies)
Description:We’ll start with behavioral components that take the form of what we call “templates:” very simple mechanisms whose motions are fundamental to the more complex limbed strategies employed by animal and robot locomotors. We’ll focus on the “compass gait” (the motion of a two spoked rimless wheel) and the spring loaded inverted pendulum – the abbreviated versions of legged walkers and legged runners, respectively.We’ll then shift over to look at the physical components of mobility. We’ll start with the notion of physical scaling laws and then review useful materials properties and their associated figures of merit. We’ll end with a brief but crucial look at the science and technology of actuators – the all important sources of the driving forces and torques in our robots.
Part: 3
Title:Anchors: Embodied Behaviors
Description:Now we’ll put physical links and joints together and consider the geometry and the physics required to understand their coordinated motion. We’ll learn about the geometry of degrees of freedom. We’ll then go back to Newton and learn a compact way to write down the physical dynamics that describes the positions, velocities and accelerations of those degrees of freedom when forced by our actuators.Of course there are many different ways to put limbs and bodies together: again, the animals can teach us a lot as we consider the best morphology for our limbed robots. Sprawled posture runners like cockroaches have six legs which typically move in a stereotyped pattern which we will consider as a model for a hexapedal machine. Nature’s quadrupeds have their own varied gait patterns which we will match up to various four-legged robot designs as well. Finally, we’ll consider bipedal machines, and we’ll take the opportunity to distinguish human-like robot bipeds that are almost foredoomed to be slow quasi-static machines from a number of less animal-like bipedal robots whose embrace of bioinspired principles allows them to be fast runners and jumpers.
Part: 4
Title:Composition (Programming Work)
Description:We now introduce the concept of dynamical composition, reviewing two types: a composition in time that we term “sequential”; and composition in space that we call “parallel.” We’ll put a bit more focus into that last concept, parallel composition and review what has been done historically, and what can be guaranteed mathematically when the simple templates of week 2 are tasked to worked together “in parallel” on variously more complicated morphologies. The final section of this week’s lesson brings you to the horizons of research into legged mobility. We give examples of how the same composition can be anchored in different bodies, and, conversely, how the same body can be made to run using different compositions. We will conclude with a quick look at the ragged edge of what is known about transitional behaviors such as leaping.
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.
