Lecture 12
16-311 Introduction to Robotics
Fall-05. Prof. Howie Choset

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Reading: McKerrow, pp53-73

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• Sensors
  • Extrinsic Sensors
  • Intrinsic Sensors ( Inertial Navigation Systems )
• 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