Practice Underactuated Systems (6.5.1) - Chapter 6: Control Systems for Robotics

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6 sample questions

Question 1.
What defines an underactuated system?
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Think about the balance between actuators and system movement.
Question 2.
Provide an example of an underactuated system.
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Consider examples from gymnastics or walking robots.
3Question 3.
Underactuated systems have:
- More control inputs than degrees of freedom.
- Fewer control inputs than degrees of freedom.
- Equal control inputs and degrees of freedom.
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Recall what makes a system underactuated.
4Question 4.
Energy-based methods are used to control:
- True
- False
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Energy plays a crucial role in movement and balancing.
Question 5.
Given an acrobot's dynamics, design a control strategy to maintain its balance using energy-based techniques.
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Focus on energy heights and balancing forces through simulations.
Question 6.
Discuss how nonholonomic constraints can be modeled when programming a robot for parking in a tight space.
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What angles can your model make in relation to the path?

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