Robotics: Locomotion Engineering

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.

 

 

 

 

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Subject: stability ×

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  • Publication
    Robo4x - Video 3.3b
    (2017-10-02) Koditschek, Daniel
    Let's talk about the stability properties of fixed points of the damped harmonic oscillator. To do that, we need to go back and remind ourselves what the vector field associated with that damped harmonic oscillator really is.
  • Publication
    Robo4x - Video 5.4
    (2017-10-02) Koditschek, Daniel
    We're now ready to talk about one of the central ideas in the course. In fact it has to do with one of the most fundamental ideas in dynamical systems theory and its applications, which is the notion of stability. It is this steady-state notion of persistence in state.
  • Publication
    Robo4x - Video 7.4a
    (2017-10-02) Koditschek, Daniel
    We have one dimensional discreet dynamics. We want to establish this isolated periodic orbit as an attractor. And that means that we need to show that any initial condition that starts close by is going to have an orbit that gets closer and closer.
  • Publication
    Robo4x - Video 10.4b
    (2017-10-02) Koditschek, Daniel
    Let's first come back to Raibert's stepping control, and let's now analyze Raibert's stepping control, in light of this new analytical insight.