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Daniel E. Koditschek

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.

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Syllabus

Introduction: Motivation and Background
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. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc
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Behavioral (Templates) & Physical (Bodies)
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. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc
Anchors: Embodied Behaviors
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. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc
Composition (Programming Work)
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. Link to bibliography: https://www.coursera.org/learn/robotics-mobility/resources/pqYOc

Good to know

Know what's good
, what to watch for
, and possible dealbreakers
Introduces principles of robot mobility that are used in machines and nature, preparing students for work in robotics or related fields
Taught by Dr. Daniel E. Koditschek, one of the pioneers in the field of robotics
Covers a range of topics in robot mobility, including kinematics and dynamics of legged machines, and design of dynamical behavior via energy landscapes
Utilizes sequential and parallel composition techniques to help students generate complicated sensorimotor programs
Requires some background in physics and math, making it suitable for intermediate to advanced students in engineering or computer science
Students may need to purchase additional materials for hands-on labs and interactive materials

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Reviews summary

Robotics: mobility course reviews

According to students, Robotics: Mobility is a tough course that provides a foundation in basic concepts of robotics mobility. The lectures are informative and engaging, but may be condensed and require additional research to fully grasp the concepts. Quizzes and assignments are challenging but may not always align with the course material. Despite some challenges, learners say that the course offers a special level of knowledge and opens their eyes to the world of bio-inspired robotics.
Course is tough but rewarding.
"Tough this course was relatively though as compared to other Coursera courses but I really liked the contents."
"This course was challenging and interesting."
"Thank you for providing this"
Lectures are informative and engaging.
"Nicely explained."
"The course is not practical and the several questions in the quizzes are not well structured."
"Nice, informative sessions."
Limited hands-on learning opportunities.
"This course is extremely poor"
"you won't have a good feeling learning, you'll spend most of your time googling things that generally you wouldn't find because they are extracted from research articles"
Quizzes and assignments may be challenging and not always aligned with material.
"Too many quizzes to give and too questions aren't always clear."
"The course is not practical and the several questions in the quizzes are not well structured."
"Great ideas presented during the course and I have learnt so many new methods, but sometimes the quizzes were not related with the material at all."

Activities

Be better prepared before your course. Deepen your understanding during and after it. Supplement your coursework and achieve mastery of the topics covered in Robotics: Mobility with these activities:
Review Physics
Reviewing Physics will help you build a stronger foundation and better prepare you for success in this course.
Browse courses on Physics
Show steps
  • Revisit Newton's laws of motion.
  • Practice solving physics problems.
  • Attend a physics tutor session.
Review Kinematics
Reviewing kinematics will refresh your understanding of how objects move and prepare you for the more advanced topics covered in this course.
Browse courses on Kinematics
Show steps
  • Re-read your notes or textbook on kinematics
  • Solve some kinematics practice problems
  • Watch a video lecture on kinematics
Watch Video Lectures on Statics and Dynamics
Watching video lectures on statics and dynamics will provide you with a more in-depth understanding of the concepts covered in this course.
Browse courses on Statics
Show steps
  • Find a reputable source for video lectures on statics and dynamics.
  • Watch the lectures and take notes.
  • Review your notes and revisit the lectures as needed.
Five other activities
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Show all eight activities
Practice Solving Dynamics Problems
Practice solving dynamics problems to improve your problem-solving skills and deepen your understanding of the concepts.
Browse courses on Dynamics
Show steps
  • Find a set of practice problems online or in a textbook.
  • Solve the problems step-by-step.
  • Check your answers against the solutions.
Read 'Classical Mechanics' by Taylor
Reading 'Classical Mechanics' by Taylor will provide you with a comprehensive overview of the fundamental principles of classical mechanics.
Show steps
  • Read the book thoroughly.
  • Take notes and highlight important concepts.
  • Solve the practice problems at the end of each chapter.
Build a Simple Machine
Building a simple machine will help you understand the principles of mechanics and how they can be applied in real-world applications.
Show steps
  • Choose a simple machine to build.
  • Gather the necessary materials.
  • Follow the instructions to build the machine.
  • Test the machine and make any necessary adjustments.
Contribute to an Open-Source Physics Project
Contributing to an open-source physics project will allow you to apply your skills and knowledge while also giving back to the community.
Browse courses on Open Source
Show steps
  • Find an open-source physics project to contribute to.
  • Read the project documentation and familiarize yourself with the codebase.
  • Make a contribution to the project.
  • Submit a pull request and get your contribution merged.
Mentor a Younger Student in Physics
Mentoring a younger student in physics will help you solidify your understanding of the concepts while also making a positive impact on their learning.
Browse courses on Mentoring
Show steps
  • Find a younger student who is interested in learning physics.
  • Meet with the student regularly to discuss physics concepts.
  • Help the student with their physics homework and projects.
  • Encourage the student to explore their interests in physics.

Career center

Learners who complete Robotics: Mobility will develop knowledge and skills that may be useful to these careers:
Robotics Engineer
Robotics Engineers design, build, and maintain robots. They work on a variety of projects, from developing new medical devices to creating autonomous vehicles. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of robotics, including kinematics, dynamics, and control. You will also learn about the different types of robots and how they are used in various applications, such as manufacturing, healthcare, and space exploration.
Control Systems Engineer
Control Systems Engineers design and implement control systems for a variety of applications, such as robotics, manufacturing, and aerospace. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of control theory, including feedback control, stability analysis, and optimal control. You will also learn about the different types of control systems and how they are used in various applications.
Systems Engineer
Systems Engineers design, integrate, and manage complex systems, such as robots, spacecraft, and power plants. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of systems engineering, including systems analysis, design, and integration. You will also learn about the different types of systems and how they are used in various applications.
Software Engineer
Robotics Engineers design, build, and maintain robots. They work on a variety of projects, from developing new medical devices to creating autonomous vehicles. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of robotics, including kinematics, dynamics, and control. You will also learn about the different types of robots and how they are used in various applications, such as manufacturing, healthcare, and space exploration.
Mechanical Engineer
Robotics Engineers design, build, and maintain robots. They work on a variety of projects, from developing new medical devices to creating autonomous vehicles. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of robotics, including kinematics, dynamics, and control. You will also learn about the different types of robots and how they are used in various applications, such as manufacturing, healthcare, and space exploration.
Electrical Engineer
Robotics Engineers design, build, and maintain robots. They work on a variety of projects, from developing new medical devices to creating autonomous vehicles. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of robotics, including kinematics, dynamics, and control. You will also learn about the different types of robots and how they are used in various applications, such as manufacturing, healthcare, and space exploration.
Computer Engineer
Robotics Engineers design, build, and maintain robots. They work on a variety of projects, from developing new medical devices to creating autonomous vehicles. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of robotics, including kinematics, dynamics, and control. You will also learn about the different types of robots and how they are used in various applications, such as manufacturing, healthcare, and space exploration.
Biomedical Engineer
Biomedical Engineers design and develop medical devices and systems. They work on a variety of projects, from developing new prosthetics to creating artificial organs. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of biomedical engineering, including anatomy, physiology, and biomechanics. You will also learn about the different types of medical devices and systems and how they are used in various applications.
Industrial Engineer
Industrial Engineers design and improve production processes and systems. They work on a variety of projects, from developing new assembly lines to creating more efficient supply chains. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of industrial engineering, including operations research, ergonomics, and quality control. You will also learn about the different types of production processes and systems and how they are used in various industries.
Aerospace Engineer
Aerospace Engineers design and develop aircraft, spacecraft, and other aerospace vehicles. They work on a variety of projects, from developing new aircraft to creating satellites. This course will help you develop the skills you need to be successful in this field. You will learn about the basics of aerospace engineering, including aerodynamics, propulsion, and control. You will also learn about the different types of aircraft and spacecraft and how they are used in various applications.
Nuclear Engineer
Nuclear Engineers design and operate nuclear power plants and other nuclear facilities. They work on a variety of projects, from developing new reactor designs to creating new nuclear materials. This course may be useful for Nuclear Engineers who want to learn about the latest advances in robotics and how they can be used to improve the safety and efficiency of nuclear power plants.
Chemical Engineer
Chemical Engineers design and operate chemical plants and processes. They work on a variety of projects, from developing new processes to creating new products. This course may be useful for Chemical Engineers who want to learn about the latest advances in robotics and how they can be used to improve the efficiency of chemical plants and processes.
Mining Engineer
Mining Engineers design and operate mines and other mining facilities. They work on a variety of projects, from developing new mining techniques to creating new mining equipment. This course may be useful for Mining Engineers who want to learn about the latest advances in robotics and how they can be used to improve the safety and efficiency of mining operations.
Materials Engineer
Materials Engineers develop and improve materials for a variety of applications, such as aerospace, automotive, and biomedical. They work on a variety of projects, from developing new alloys to creating new composites. This course may be useful for Materials Engineers who want to learn about the latest advances in robotics and how they can be used to improve the properties of materials.
Petroleum Engineer
Petroleum Engineers design and operate oil and gas wells and other petroleum facilities. They work on a variety of projects, from developing new drilling techniques to creating new production methods. This course may be useful for Petroleum Engineers who want to learn about the latest advances in robotics and how they can be used to improve the efficiency of oil and gas production.

Reading list

We've selected 12 books that we think will supplement your learning. Use these to develop background knowledge, enrich your coursework, and gain a deeper understanding of the topics covered in Robotics: Mobility.
Presents a modern approach to robotics, focusing on the fundamentals of mechanics, planning, and control. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of the biomechanics and motor control of human movement, covering topics such as kinematics, kinetics, muscle function, and neural control. valuable resource for students and researchers interested in the mechanics of animal and robot locomotion.
An in-depth look at the mechanics of robot locomotion, covering topics such as legged locomotion, wheeled locomotion, and hybrid locomotion. valuable resource for students and researchers interested in the design and control of legged robots.
Provides a comprehensive overview of control systems engineering. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of robot modeling and control. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of planning algorithms. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of computer graphics. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of machine learning. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of deep learning. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of classical mechanics. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.
Provides a comprehensive overview of the mechanics of materials. It valuable resource for students and researchers in robotics, as well as engineers and practitioners working in the field.

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