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.
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