Lecture 12
16-311 Introduction to Robotics
Prof. Howie Choset

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Reading: McKerrow, pp53-73

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Degrees of Freedom

Design Tradeoffs with Mobility Configurations:

1. Maneuverability
2. Controllability
3. Traction
4. Climbing ability
5. Stability
6. Efficiency
7. Maintenance
8. Environmental impact
9. Navigational considerations

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• Differential Drive

• Knobbie tires

• Skid Steering

• Tricycle

• Ackerman steering

• Synchro drive

• Omni Wheels

• Legged Robots

• Snake Robots

• Nomad

• Mars rover