11.13. Dynamics in Legged and Wheeled Robots

Try these first

1. 1.

   What does ZMP stand for?

   Hint

   Think about balance in walking robots.

2. 2.

   Name one type of wheeled robot.

   Hint

   Consider basic robots that move on wheels.

3. 3.

   What does ZMP help determine in legged robots?

   • Forward speed
   • Balance
   • Torque

   Hint

   Think about stability while walking.

4. 4.

   True or False: Wheeled robots can slip sideways if not controlled properly.

   • True
   • False

   Hint

   Consider how wheels interact with surfaces.

5. 5.

   Design a control algorithm for a legged robot to successfully navigate stairs while maintaining balance.

   Hint

   Consider how the dynamics change at each step.

6. 6.

   Evaluate the performance of a wheeled robot designed for rocky terrain and propose improvements.

   Hint

   Think about how uneven surfaces impact traction.