Lect 5

Question 1

What should a mobile robot do? In terms of move and sense.

Answer 1

A mobile robot should move and sense and must process this information to link these two.

Question 2

What is locomotion?

Answer 2

Locomotion is the act of moving from one place to the other, it is based on the interaction of the actual environment and the forces created by mechanisms and the actuators on the environment. We always need to consider the robot body and its situation on the environment(çok hızlı gidiyor olabilir ama kayıyor olabilir o sırada)

Question 3

What are the possible goals of a robot locomotion system?

Answer 3

1)Repeadability: how precise can you be creating the same motion?
2) Flexibility: related to the capability of the machine to change according to the needs of a process or an external event
3)Robustness
(the first three is important for the motion)
4) Efficency: low power consumption

Question 4

What are BIONIMATIC ROBOTICS?

Answer 4

It replicates the animals in robots

Question 5

What is the difference between locomotion and manipulation?

Answer 5

Locomotion: to move the robot around
Manipulation: to move the object around

Question 6

What is stability? Static stability, dynamic stablity, static walking?

Answer 6

There are two different stability. One is
1)static stability, it is achieved through the mechanical design of the robot, where the robot stand still without falling down. It can be simply achieved by adding more legs. The fewer legs the more complex locomotion.
AT LEAST THREE LEGS ARE REQUIRED FOR STATIC STABILITY.
AT LEAST 6 LEGS ARE REQUIRED FOR STATIC WALKING
STATIC WALKING: when you pull up one leg all te other legs must support you statically
Dynamic stability is achieved through control like humans do. Humans are not statically stable but dynamically stable.

Question 7

What types of locomotions there are?

Answer 7

1) Wheeled locomotion
2) Legged locomotion
3) Snake locomotion(sliding)
4) Free floating locomotion
5) Swimming locomotion

Question 8

Issues of locomotion? ***

CES
Contact
Environment
Stability

Answer 8

Direction
Friction
(these two are in order to interacr with the environment)
Acuating and sensing
Desing of control

Locomotion issues depend on:

1) Stability:
- number and geometry of contact points
- center of gravity
- static/dynamic stability
2) Contact:
- contact point/path size and shape
- angle of contact
- friction
3) environment:
- structure
- medium

Question 9

Example for legged locomotion?

Answer 9

Biped walking (2 ayaklı yürüme)
From kinetical point of view it is close to rolling, the number of legs determine the stability of locomation.

Question 10

Why legged robots are preferrred to wheeled robots?

Answer 10

Legged systems can overcome many obstacles that wheeled systems can not. But it is really hard to achieve that:

1) Many DOFs must be controlled in a coordinated way
2) the robot must see detailed elements of the environment

Question 11

What is a passieve dynamic walker? Give an example?

Answer 11

Passieve dynamic walker: potential kinetic with combination of low friction. Push the robot from the back, kinetic energy is transferred to legs and the robot is able to walk
Example: Inverted pendulum
It is a passive dynamic walker because it has no dynamic motor