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Task 01 Locomotion

This document outlines an assignment for a robotics course to analyze the locomotion mechanisms of 10 different robot platforms. Students are instructed to simulate each robot in a simulation software and classify their locomotion mechanisms. They then must make a table characterizing each mechanism and identify wheel types. For two specific robots, they need to describe the degrees of freedom of their wheels/legs. Students also test each robot in 3 terrain simulations and assess their performance. They are to prepare a report with accompanying videos in a compressed file format and submit it by the deadline.

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72 views2 pages

Task 01 Locomotion

This document outlines an assignment for a robotics course to analyze the locomotion mechanisms of 10 different robot platforms. Students are instructed to simulate each robot in a simulation software and classify their locomotion mechanisms. They then must make a table characterizing each mechanism and identify wheel types. For two specific robots, they need to describe the degrees of freedom of their wheels/legs. Students also test each robot in 3 terrain simulations and assess their performance. They are to prepare a report with accompanying videos in a compressed file format and submit it by the deadline.

Uploaded by

jigar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robotics II SS2019 Prof. Dr.-Ing.

Roth

Locomotion and Propulsion


Unlike manipulator robots that are normally fixed on the industrial floor, mobile robots have
the capability of delivering their services wherever needed. Thanks to their locomotion
capability. Mobile robots require locomotion mechanisms to enable them to move
unboundedly through their environments. Selecting a suitable locomotion mechanism for a
specific robot is one of the key tasks of any mobile roboticist.

In this task you will study ten robot platforms, determine their locomotion mechanism and key
some of their key parameters like degrees of freedom.

Prep Task

o Download and install v-rep (education version is free online)


o Download task files from
o Open and simulate each in v-rep and make sure it runs with no errors (not corrupt)

Main Tasks
The provided “Robots” folder contains 10 different robots. Simulate and analyze the
locomotion mechanisms used for each of the robots. Then answer the following questions:

1. Classify all the ten robots


2. For each mechanism, name the type of motion involved, corresponding resistance to
this motion and suitable environment for such a mechanism. Tabulate your results.
3. Identify all types of wheels presented in each of the ten robots if any
4. For the robot_06 (hexapod), identify the degrees of freedom per leg and name the
corresponding angles for each degree of freedom
5. Robots robot_04 and robot_07 (omnidirectional robots) have each four wheels,
describe all degrees of freedom for one wheel from each of these robots.
6. Describe how each of the robots in (4) achieves:
a. Forward and backward motion
b. Left and right motion
c. Clockwise and counter clockwise turning
7. Introduce each of the ten robots (one at a time) into the environments in “Terrain-1”,
“Terrain-2” and “Terrain-3”, simulate and record 30 seconds of video for each robot
performing in the three environments
8. Assess the performance for each robot and justify its perform as observed in (7) for:
a. Terrain-1 b. Terrain-2 c. Terrain-3
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Submission Deadline: 18.04.2019
Robotics II SS2019 Prof. Dr.-Ing. Roth

Submission
Prepare pdf report (technical report), then package the report together with accompanying
videos into a winrar/zip. Name the file “Group-number_Task-x and send it to the following
email address [email protected].

Note: Any graphs should be well labelled and legible (with a white background)

Adhere to the official deadline. Work submitted after the deadline will not be graded.

Contact
In case of any questions regarding this task, either send an email to nasser.gyagenda@uni-
siegen.de. or come in person to office H-F 113.

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Submission Deadline: 18.04.2019

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