1 / 29

Learning Roomba

Learning Roomba. Module 2 - Robot Configurations. Outline. What is a Robot Configuration? Why is it important? Several types of Configurations Roomba Configuration. What is a Robot Configuration?. Describes how a robot can move and where it can go Includes Physical shape of the Robot

josephine-crew
Télécharger la présentation

Learning Roomba

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Learning Roomba Module 2 - Robot Configurations

  2. Outline • What is a Robot Configuration? • Why is it important? • Several types of Configurations • Roomba Configuration

  3. What is a Robot Configuration? • Describes how a robot can move and where it can go • Includes • Physical shape of the Robot • Model of how the Robot can move in the Environment

  4. What is a Robot Configuration? • Holonomic vs. Non-holonomic • Holonomic Robots can move in any direction • Non-holonomic Robot is contrained to certain types of movement • Example: A Car is non-holonomic

  5. What is a Robot Configuration? • For ground robots, the Configuration often describes how it • Rotates (How the robot turns) • Translates (How the robot moves forward or backward)

  6. Why is it important? • With the Configuration you can tell how a Robot will operate prior to controlling it • Important to understand a Robot’s limitations while designing it

  7. Several Types of Configurations • Wheeled Robots • Differential Drive • Ackerman Steer • Tricycle Drive • Synchro Drive • Skid Steer • Roller Wheeled • Legged Robots • Flying Robots • Fixed-wing • Rotorcraft

  8. Differential Drive • 2 Wheels • Independently powered • in-line with each other • Usually in the center of the robot • Often has 1 or 2 casters • Non-powered • Swivel in any direction • Add stability

  9. Differential Drive • Advantage • Simple Design • Can go anywhere the robot can fit • Disadvantage • Has difficulty with uneven terrain (both wheels need to touch the ground to work) • Has to rotate before traveling in a new direction

  10. Differential Drive • Shape matters • In this example, the Circle robot can turn freely while the Square robot cannot

  11. Ackerman Steer • Like a Car • 4 Wheels • 2 Rear wheel are powered, fixed-rotation • 2 Front wheels are non-powered that turn • Turn at different Angles

  12. Ackerman Steer • Advantage • Drive and Rotation functionality are separated • Typically more stable • Disadvantage • Mechanically complicated • Often complicated maneuvers (non-holonomic)

  13. Tricycle Drive • Similar to Ackerman Steer • Only 1 front wheel that turns

  14. Tricycle Drive • Advantage • Mechanically Simpler • Disadvantage • Similar motion limitations as Ackerman Steer • Less Stable

  15. Synchro Drive • At least 3 wheels • All rotate together • All are powered together

  16. Synchro Drive • Advantage • Can travel in any direction without turning the top base • Separate motors for turning and driving • Disadvantage • Very Mechanically Complicated • Top base cannot face another direction

  17. Skid Steer • Like a tank • Several wheels on each side or tank treads • Turning Requires skidding

  18. Skid Steer • Advantage • Can handle uneven terrain well • Disadvantage • Poor odometry due to skidding

  19. Roller Wheeled • 3 Wheels • Arranged around the circumference of the robot • Wheels are Roller Wheels (Next Slide) • Non-Steering • Independently Powered

  20. Roller Wheeled • Roller Wheels • Includes Rollers • Perpendicular to the Wheel • Around the wheel • Non-powered

  21. Roller Wheeled • Advantage • Can go in any direction without first rotating • Can go anywhere the robot can physically fit • Disadvantage • Tracking position through odometry is difficult

  22. Legged Robots • Uses legs instead of wheels • Any number of legs

  23. Legged Robots • Advantage • Can travel over rugged terrain • Disadvantage • Mechanically complicated • Hard to control

  24. Fixed Wing Aerial • Like a Plane • Not Restricted to the ground

  25. Rotorcraft Aerial • Like a Helicopter • Not Restricted to the ground • Can take-off vertically

  26. Other Configurations • Many other Configurations • Robots are not restricted to Ground (or even Air) • Can be manipulated in many different ways

  27. Roomba Configuration • Wheels • 2 Wheels • Independently Powered • Non-Steered • Arranged at approximately the center of the robot on opposite sides of each other • Shape • Circular • Few inches tall

  28. Roomba Configuration • Round Differential-Drive Configuration • Can travel anywhere the Roomba can fit and get to • Can move in any direction, but first need to turn to that direction

  29. Questions?

More Related