Homework 11
16-311 Introduction to Robotics
Fall-05. Prof. Howie Choset
Due in class Tuesday, Nov. 22th
- Group Portion (Optional)
- Write up a one page description of lessons that
you learned during the USAR Demo. Please include what you would have
done differently if you had a chance to do it again (1 page, up to 5 points on USAR grade)
- Write up a one page description of the innovations in your robot from
the USAR demo (1 page, up to 5 points on USAR grade)
- Please suggest a contest for next year's class.
- Group Portion (70%)
- Please do Lab 8
- Modify your
Wavefront planner to favor NOT changing directions, whenever
possible. So, if you are using 4-point connectivity and are heading
south (i.e., just came from a northen pixel), if you have a choice of
eastern, western, or southern pixels, chose the southern pixel to
continue in the same direction.
- Individual Portion (30%)
- Please draw the intermediate motions for a wedge that undergoes
Trans (Y, py1) Rot (Z, t1) Trans (Y, py2) Rot (X, t2)
- Let
be a homogenous tranformation. Demonstrate
that H is either a translation followed by a rotation or a rotation
following by a translation.
- Consider the following robot
- What are the parameters and variables for the robot
- Derive the forward kinematics for the robot, i.e., write an expression
for x,y, theta in terms of the joint parameters and variables.