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ROBOTS: Rollers and Walkers Larry Clark TOPICS MOBILE ROBOTS WHEELED ROBOTS WHEELED ROBOT PHYSICS LEGGED ROBOTS MOBILE ROBOTS TYPES Wheeled Legged Serpentine Robots Difficulties of Mobile Ro bots FMSs & AGVs Sinusoidal WHEELED ROBOTS Pros Cons Types Four Wheeled

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Presentation Transcript
robots

ROBOTS:

Rollers and Walkers

Larry Clark

topics
TOPICS
  • MOBILE ROBOTS
  • WHEELED ROBOTS
  • WHEELED ROBOT PHYSICS
  • LEGGED ROBOTS
mobile robots
MOBILE ROBOTS
  • TYPES
    • Wheeled
    • Legged
  • Serpentine Robots
  • Difficulties of Mobile Robots
  • FMSs & AGVs

Sinusoidal

wheeled robots
WHEELED ROBOTS
  • Pros
  • Cons
  • Types
    • Four Wheeled
    • Three Wheeled
      • Synchronous drive system
    • Turtle
    • Tracked
    • Six wheeled
      • terragator
wheeled robots5
WHEELED ROBOTS
  • Sideways Motion
    • Stanford wheel
    • Illanator wheel
      • Uranus
wheeled robot physics
WHEELED ROBOT PHYSICS

Ft = Fa + Fr + Fd + Fg Newton

Power = traction force x vehicle speed / transmission efficiency

Motor torque = power / 2π motor velocity

Battery energy = traction force x distance traveled

legged robots
Legged Robots
  • Pros
    • Soil Mechanics
  • Cons
  • Classes
    • Static stability
    • Dynamic stability
legged robots8
Legged Robots
  • RM3
  • One-legged hopping machine
  • Multi-legged hopping robots
  • Dynamic walk
    • Inverted-pendulum motions
      • BIPER series
legged robots9
Legged Robots
  • Adaptive gaits
    • PV11
    • Titian III
      • Pantomec leg mechanism
  • Energy efficiency
    • Positive work mode
    • Isometric mode
    • Negative work mode
    • Specific resistance
legged robots10
Legged Robots
  • Leg Motion
    • Coupled thrust and support motions
    • Gravitationally decoupled actuator
    • Pantograph mechanism
  • Odex 1