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Mobile Robots |
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The focus of the course has been on Industrial robots, which are by and large fixed robots. However, there are many instances when one would like to have a mobile robot. |
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A mobile robot is a robot that is capable of going from one place to another.
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Some capabilities required in a mobile robot are: |
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Means of locomotion, i.e., wheels, legs, wings, etc.
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Navigation, i.e., line following, target seeking, obstacle avoidance, navigation using maps, map building, self localization, etc.
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Some early humanoid robots |
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Legged Robots |
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Advantages |
Flamingo – a biped using serial elastic actuators
Leg Lab MIT
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Prepared surface not essential
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Continuous surface not essential
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Legged mobile robots can work in environments designed for human beings where wheeled robots cannot be used.
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Active suspension
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Can be made contaminant proof by clothing
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Disadvantages:
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Greater complexity of hardware
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Greater demand on actuator due to self weight |
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Greater complexity of control and coordination
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