Computer Science 444: Embedded / Robotic Programming

Unit 2: Robotic Movement 1 – Locomotion

What makes a robot move? What types of robotic movement are possible? In this unit you will explore locomotion in robots.

Learning Objectives

After completing this unit, you should be able to

  • list the various mechanisms of robotic movement.
  • discuss active versus passive actuation.
  • describe different types of actuators.
  • discuss the similarities and differences between DC motors, geared motors, and servo motors.
  • describe and calculate the degrees of freedom in movement.
  • discuss stability in robotic movement.
  • discuss the creation of robots that move using various affectors or combination of affectors.
  • employ the Arduino and the SparkFun Inventor’s Kit to create circuits which control various affectors.

Readings

Please read the following chapters in the textbook:

  • Arms, Legs, Wheels, Tracks, and What Really Drives Them (Chapter 4)
  • Move It! (Chapter 5)

Questions to Ponder

At the end of each chapter in the assigned readings there are questions labelled “Food for Thought.” Please answer these questions as best you can in your weblog, which will become part of your portfolio of competence submitted for marking during this course.

Exercises

Exercises for this unit can be found in the Instructor’s Weblog on the Landing. Please follow along with the exercises and programs using your own Arduino kit, and keep a record of your explorations in your own weblog.

Further Readings

At the end of each chapter in the assigned readings you will find a section titled “Looking for More.” While the links and readings mentioned in this section are not assigned, please feel free to examine them if you are interested, or ask questions on the Landing.

Assignment 1

It is time to submit your weblog for Assignment 1.

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