Bio-Inspired Robotics Flashcards
Bio-inspired robots…
adapt principles taken from observation of living organisms (drone using feathers to increase manoeuvrability)
Bio-mimetic robots…
replicate detail mechanisms found in living organisms and nature (drone flies by flapping wings)
Disadvantages of LIDAR
Costly, heavy and attenuation underwater
Simply, how does LIDAR work and how can it be used in robots
Sonar but with light… pulses light at an object and calculates the time it takes be reflected back at receiver.
Can be used to detect obstacles, help in navigation
What are the advantages of using leg based mobility
can step over obstacles
walk up/down stairs
can walk on uneven ground and is smooth
do not sink into ground, unlike wheels
What are the disadvantages of using leg based mobility
mechanically complex
costly - if using hydraulic actuators
difficult to control
slow and energy insufficient
unstable - 2/4 leg design on large robots (BD)
What is an agent
an actor that observes and acts upon its environment - both humans and robots are agents
what is a Braintenberg vehicle, what does it consist of
a simple concept that is used to show how complex behaviour can result from simple sensing and motion, no programming
2 wheels and 2 sensors
describe positive coupling in a braintenberg vehicle, how can we describe this vehicle
in positive coupling the motor increases as the signal the sensor detects increases
photophobic, moves away from light
What is deliberative behaviour
a robot will use it sensors and information about the environment to form and execute a plane
sense -> plan -> act
drawbacks of deliberative behaviour
lots of sensors required
knowledge of environment required
need to search through all possible plan (long time)
cannot adapt
what is reactive behaviour
based on stimulus-response reflect, robot responds in real time to changes in the environment. Just uses sensors to act on a set of rules, such as follow the light.
limitations of reactive behaviour
no memory
no internal representation of world
no planning ahead
cant learn, just reacts
what is hybrid control
uses deliberative and reactive control, ie the plan is known but reactive control is used to help achieve goal
