11.13.2. Wheeled Robot Dynamics

Try these first

1. 1.

   What do we mean by non-holonomic constraints?

   Hint

   Think about how a car moves.

2. 2.

   Give an example of where rolling constraints might apply.

   Hint

   Consider where wheels meet the ground.

3. 3.

   What is the primary focus of wheeled robot dynamics?

   • Terrain interaction
   • Non-holonomic constraints
   • Rolling constraints

   Hint

   Think about movement limitations.

4. 4.

   True or False: Rolling constraints affect how a wheeled robot can accelerate.

   • True
   • False

   Hint

   Interaction with surfaces matters.

5. 5.

   Design a wheeled robot capable of traversing a sandy dune with variations in mass distribution and type of terrain. Consider control methods that would be required.

   Hint

   Consider the challenges of traction in loose sands.

6. 6.

   Evaluate the dynamics of a wheeled robot on a sloped Wet surface. Propose a dynamic control strategy.

   Hint

   Focus on the feedback mechanisms used in control.