Lecture 5 - Robot Locomotion Flashcards
Different word for sensor space
Perceptual space
Effectors
Devices that have an effect on the robot’s environment (arms, wheels)
(active) Actuators
Mechanisms that enable the effector to execute an action or movement (e.g. motors)
Passive Actuation
Do not use motors but only potential energy
(3) different state types
- Observable state (knows a lot about itself and world)
- Partially observable state: knows little about itself and world
- Hidden state: it can’t sense
State space
Possible values or variations of all the components represented in the state.
- External state
- Internal state
- > what can it be?
- Environment
- robot itself
- > can be representation of external information (map)
What does robot need to be truly autonomous?
What does it combine?
A controller
that combines sensor input with actuator output (decides what to do)
Degrees of Freedom
-> what does it impact?
Any of the minimum number of coordinates required to completely specify the motion of a mechanical system
-> impacts the robots abilities to interact with its environment
3 Different DoF’s
1. Holonomic
+ example
Controllable DoF’s is equal to the total DoF
cDoF = tDoF
+ Helicopter
3 Different DoF’s
2. Non-holonomic
+ example
Not all DoF’s are controllable
cDoF < tDoF
+ Car, two-wheeled robots
3 Different DoF’s
3. Redundant
+ example
Controlling more DoF’s than the total.
cDoF > tDoF
+ Human/robotic arm
What is required for locomotion (DoF)?
- minimum
- generally
- Minimum 2 DoF for lift and swing
2. Large number of DoF and cDoF
Static stability
More than two legs on ground
- > static and stable
ex: tripod
Dynamic stability
Two or less legs on the ground
- > body must actively balance
ex: inverse pendulum
