Practice Summary (11) - Chapter 9: Humanoid and Bipedal Robotics

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6 sample questions

Question 1.
What does 'Degrees of Freedom (DoF)' refer to in robotics?
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Think about human joints and how they can rotate or bend.
Question 2.
Define Zero Moment Point (ZMP).
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Consider how weight distribution affects balance.
3Question 3.
What does Degrees of Freedom denote in robotics?
- The weight a robot can lift
- Number of independent joint movements
- The force exerted by the joint
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Consider joint movements.
4Question 4.
True or False: ZMP must always lie outside the support polygon.
- True
- False
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Think about stability and balance.
Question 5.
Design an algorithm to prevent a humanoid robot from falling when navigating uneven terrain. Consider using ZMP and WBC principles.
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Start by understanding the role of each sensor and how it contributes to stability.
Question 6.
Evaluate the trade-offs between using electric motors versus hydraulic actuators for joint movement in a humanoid robot.
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Consider scenarios where each type would excel or fail.

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