pibasusi's version from 2016-05-31 17:29

Section 1

Question Answer
What's the support polygon?A convex hull formed of the footprints
First requirement for static balance?CoM inside support polygon
Second requirement for static balance?Negligible velocities/accelerations
ZMP?Zero Moment Point
First requirement for dynamic balance?ZMP inside support polygon
CoP vs ZMP in a balanced gait?Located at the same place, can move
Expression for Tau?T = Mg(x-p) - MxZ
Expression for p?p = xZ/g - x
Performance metric 1?Stability margin, distance to edge of support polygon
Performance metric 2?Specific resistance, e = E/(Mgd)

Section 2

Question Answer
Automation:Well-defined tasks, pre-determined responses, well-known and structured environment.
Automation example:Adaptive feedback controller with a switching control decision making defined at the design stage.
Autonomy:Set of intelligence, learning or adaptive capabilities that allow response to non-pre-programmed or design anticipated situations.
Autonomy continued:A degree of self-governance and self-directed behaviour, adaptive to/learning from an ever changing environment.
Autonomy continued:Make complex goal oriented decisions, using multiple feedback controllers in a dynamic environment.
Autonomy continued:Planning and acting to achieve a set of goals and self-generated sub-goals.

Section 3

Question Answer
Level 1:Begins task if told to, only doing as controlled.
Level 2:If told to, advises actions with little analysis or recommendations, primarily based on the robots capability/behaviour rules rather than the environment.
Level 3:Automatically advises actions, to be carried out if authorised. Can offer multiple options with assessment of effectiveness and consequences.
Level 3 caveat:Requires constant and comprehensive information flow to the operator in order to make an informed choice.
Level 4:Action unless revoked. Choice and implementation is independent of operator.
Level 4 caveat:Requires constant co-operation between the robot and operator.
Level 5:Choice and implementation is automatic and independent, may inform the operator after action begins.

Section 4

Question Answer
Sheridans 10 levels of...Autonomy
1:All operator.
2:Offers a complete set of action alternatives.
3:Offers a narrow set of action alternatives.
4:Offers a single action.
5:Executes action if operator approves.
6:Executes action unless operator disapproves.
7:Executes action then informs operator.
8:Executes action then informs operator if asked to.
9:Executes action then informs operator if it decides to.
10:Executes action, operator is ignored.

Section 5