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?