Penn Engineering MOOCs

Penn Engineering Online is advancing the University of Pennsylvania's mission to increase access to education and innovation. By harnessing the latest in distance-learning and online course technologies, our Ivy League-caliber resources and capabilities are open to all — truly, anyone can learn to think and create like an engineer. This collection serves as a repository for instructor publications that are referenced in our courses.

For a full list of Penn Engineering online courses please go to our website: online.seas.upenn.edu

 

 

 

 

 

 

School of Engineering and Applied Science

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  • Publication
    Robo4x - Video 9.3a
    (2017-10-02) Koditschek, Daniel
    So let's just remember what the big picture looks like and what we're trying to do. You'll recall from our approach to vertical hoppers, that what we're trying to develop a model of the continuous time vector field and then the continuous time of flow for each of the different contact modes.
  • Publication
    Robo4x - Video 1.4
    (2017-10-02) Koditschek, Daniel
    A lot of insight in locomotion engineering, particularly for legged locomotion, comes from bioinspiration. Bioinspiration is the importance of not copying, but rather seeking, extracting and using the principles.
  • Publication
    Robo4x - Video 10.3
    (2017-10-02) Koditschek, Daniel
    The return map analysis is the most important moment in the course. It's the point in the course where all those complicated things that we've been leading up to are going to turn out to be analyzable and they'll be analyzable in a way that gives us really, really important conclusions about the fore-aft motion of the spring loaded inverted pendulum.
  • Publication
    Robo4x - Video 3.4
    (2017-10-02) Koditschek, Daniel
    Let's look again at the pendulum that we introduced in the beginning part of this segment. This time we're going to add damping. We've explored the properties of damping in the exercises for the beginning of this unit. Recall that whereas without damping, we had the whatever total energy we started with we continued, the orbits continued on that same total energy shell.
  • Publication
    Robo4x - Video 2.2a
    (2017-10-02) Koditschek, Daniel
    We have a scalar 2nd order ordinary differential equation given by this acceleration field. We're going to continue solving for Vector 1st Order.
  • Publication
    Robo4x - Video 5.2a
    (2017-10-02) Koditschek, Daniel
    In the previous segment, we just introduced the notion of a normal form. And the Flowbox theorem tells us that when we're not close to a fixed point, then the vector field is conjugate to some constant velocity vector field. We're now going to look and try to identify the normal form where the zeroth approximate fails, and instead we have to go to the first order, or the linearized vector field.
  • Publication
    Robo4x - Video 2.1
    (2017-10-02) Koditschek, Daniel
    We're going to start at the very beginning of things , namely the Prismatic one degree freedom physics. We'll introduce slightly different terminology and slightly different notation and so it's not a bad thing to review and start you on the escalator from the first step rather than the fifth step.
  • Publication
    Robo4x - Video 01.3
    (2017-10-02) Koditschek, Daniel
    Why do animals move? Humans have been thinking about this ever since they were humans. Aristotle introduced notions of the interplay between the animal's cognition, its appetites or desires and its ability to perceive changing world states and understood that the motive for mobility came about through this interplay of desires and and perception.
  • Publication
    Robo4x - Video 6.1
    (2017-10-02) Koditschek, Daniel
    We're starting out one of the major units in the course, a careful look at the vertical component of the Raibert vertical hopping machine. Back in 1983, 84, 85, 86 finally his book came out. And this is some of the core material that's organized, thinking about legged locomotion for the following 30, 40 years.
  • Publication
    Robo4x - Video 7.4b
    (2017-10-02) Koditschek, Daniel
    Because the bottom coordinates are physically well conceived, we found that it was useful to derive the return map in those coordinates. However, the analysis of the stability of the return map is much better done in a more simple coordinate system. And we're going to use the end thrust coordinates.