13 - Robotics

Question 1

The ________ is often done in configuration space.

Answer 1

The PLANNING OF ROBOT MOTION is often done in configuration space.

Question 2

What are essential actuators of a robot?

Answer 2

SENSORS for perceiving the environment and EFFECTORS for asserting physical forces

Question 3

Potential Field Control introduces ________ as an additional cost function for planning.

Answer 3

Potential Field Control introduces POTENTIAL FIELDS as an additional cost function for planning.

Question 4

Advantages of Potential Field Control

Answer 4

Simplicity and no real-time issues

Question 5

Disadvantage of Potential Field Control

Answer 5

Robot can be stuck in local minima

Question 6

Sensing vs. Perception

Answer 6

Sensing is raw measurement and Perception is actual understanding

Question 7

Major Types of Robot Motion

Answer 7

Point-to-point and Compliant motion

Question 8

Cell Decomposition

Answer 8

Discretize continous space into finite grid and find the optimal path (A* search)

Question 9

Disadvantage of Cell Decomposition

Answer 9

Only feasible for low-dimensional configurations and path might not be smooth/differentiable

Question 10

Skeletonization Methods - Alternatives to cell decomposition

Answer 10

Voronoi Graph & Probabilistic Roadmaps

Question 11

Generalized Voronoi Graph

Answer 11

Possible skeleton which describes the exact middle between two or more points

Question 12

P: Proportional Term in PID-Controller

Answer 12

Aims to prevent present errors

Question 13

I: Integral Term in PID-Controller

Answer 13

Aims to prevent past errors

Question 14

D: Differential Term in PID-Controller

Answer 14

Aims to prevent future errors

Question 15

Bad Parametrization of the PID controller can lead to ________.

Answer 15

INSTABILITY