Chapter 2 Movable Machines University of （第二章动机器大学）.pdf

26 S. M. LaValle: Mobile Robotics Chapter 2 Movable Machines Figure 2.1: A few legs that clumsily “roll” along can be considered as a rimless wheel. Increasing the number of legs gradually produces a wheel. active areas of research. The particular choice of locomotion method depends on DRAFT OF CHAPTER 2 (8 Jan 2013) many factors, such as: (likely to be updated soon) 1. Medium: What kind of environment will the robot traverse? Examples are Mobile Robotics: An Information Space Approach rugged terrain, factory floors, air, space, on top of water, and under water. 2. Stability: Will the robot platform shake, vibrate, or tumble while moving? Steven M. LaValle, University of Illinois The robot might need to carry a camera that streams video without making viewers sick. Alternatively, perhaps the robot carries delicate materials. All rights reserved. Mobile robots combine three kinds of systems: