AIN SHAMS UNIVERSITY

FACULTY OF ENGINEERING
MECHATRONICS ENGINEERING DEPARTMENT
Credit Hours Programs
Spring 2017-2018

MCT 431: Autonomous Systems

Assignment-1: Locomotion

1. What is robot locomotion?

2. State the basic kinematics of the following motions: crawl, sliding, running, jumping and walking.

3. State the advantages and disadvantages of legged locomotion.

4. MCQs and TRUE/FALSE

a) number of possible events for a walking robot with 5 legs is:
o 6
o 5040
o 39,916,800
o None of the above
b) For wheeled mobile robots, minimum number of wheels sufficient to guarantee stability is:
o 2
o 3
o 4
o None of the above
c) Bigger wheels allow overcoming higher obstacles but they require higher speed.
o True
o False
d) Number of degrees of freedom of an off-centered orientable wheel is
o 1
o 2
o 3
o None of the above
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5. Identify the category of each of the following wheel arrangements, identify the degree of
maneuverability of each and indicate an example for each arrangement.

Wheel
Arrangement

Maneuverability …………... …………… …………… ……………

Example …………... …………… …………… ……………

…………… …………… …………… ……………

Note:

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