ROBOTS:

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ROBOTS
Rollers and Walkers
Larry Clark
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TOPICS

• MOBILE ROBOTS
• WHEELED ROBOTS
• WHEELED ROBOT PHYSICS
• LEGGED ROBOTS

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MOBILE ROBOTS

• TYPES
• Wheeled
• Legged
• Serpentine Robots
• Difficulties of Mobile Robots
• FMSs AGVs

Sinusoidal
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WHEELED ROBOTS

• Pros
• Cons
• Types
• Four Wheeled
• Three Wheeled
• Synchronous drive system
• Turtle
• Tracked
• Six wheeled
• terragator

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WHEELED ROBOTS

• Sideways Motion
• Stanford wheel
• Illanator wheel
• Uranus

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WHEELED ROBOT PHYSICS
Ft Fa Fr Fd Fg Newton Power traction
force x vehicle speed / transmission efficiency
Motor torque power / 2p motor velocity
Battery energy traction force x distance
traveled
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Legged Robots

• Pros
• Soil Mechanics
• Cons
• Classes
• Static stability
• Dynamic stability

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Legged Robots

• RM3
• One-legged hopping machine
• Multi-legged hopping robots
• Dynamic walk
• Inverted-pendulum motions
• BIPER series

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Legged Robots

• Adaptive gaits
• PV11
• Titian III
• Pantomec leg mechanism
• Energy efficiency
• Positive work mode
• Isometric mode
• Negative work mode
• Specific resistance

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Legged Robots

• Leg Motion
• Coupled thrust and support motions
• Gravitationally decoupled actuator
• Pantograph mechanism
• Odex 1