The Robotics Primer Workbook Developed by  USC, iRobot® and Microsoft® Robotics Studio

Categories: Exercise | Player Exercise | Command Module Exercise | Microsoft Robotics Studio Exercise

Robot Components

Contents 1 Purpose 2 Overview 3 Hardware 4 Exercise1: Sensors and Sensor Space 5 Exercise2: Effectors and Actuators

Purpose

These exercises discuss the concept of sensor and actuator space, and how it applies to the iRobot Create programmable robot. Refer to Chapter 3 and 4 of the Robotics Primer.

Overview

A robot gathers information about its state and the environment via sensors. Typically a robot has a set of sensors capable of monitoring numerous features, such as battery level, odometry, and distance to nearby objects. With this information, the robot is able to determine its current state. The robot can then use this state information to decide what actions are appropriate. In these exercises we will look at the Create's sensors, and identify what it is capable of detecting. In the second exercise we will study effectors and actuators, and how the Create moves.

Hardware

No hardware is directly used, but it helps to have a Create handy for visual inspection.

Exercise1: Sensors and Sensor Space

1. List each of the Create's sensors. Refer to the iRobot Create's owners manual for help as some sensors may not be obvious.
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2. Define the Create's sensor space. For each of the sensors, identify what it perceives and the range of possible sensor readings.
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3. Now imagine a sonar sensor has been added to the Create. What is the new sensor space?
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Exercise2: Effectors and Actuators

1. Describe the difference between effectors and actuators.
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2. List each of the Create's actuators and effectors.
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3. List the degrees of freedom for the Create.
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