Day 6: (Thu Sep 10, Week 3) Kinematic Modeling

Notes for 2026-09-10.

Assignments

For Tue Sep 15, please complete the design diagrams for Exercise: Unusual Mobility Part 3: Kinematics, now including the detailed rigid-body kinematic analysis. Please be sure to include critical dimensions and masses. Please update your existing work in Assignment 4 Shared Folder.

Please also look through the existing Webots models to find an example with the most similar kinematics. The scope includes both the course models under Webots Robot Simulator and the online model library at webots.cloud.

Please also understand the model tree of the sample in enough detail to be prepared to modify it to your design.

Please always include your preferred name in the submission file names. Please create a named sub-folder with your name if you have multiple files.

Administrative

  • Note: my office hour structure is changing, starting this Friday I will be spending 3-4PM in HL A5 Fab Lab and 4-5PM in the HL A10 PhysComp Lab.

  • Friday September 11 from 5-6PM is the first FrIDeATe of the Fall semester in the basement lobby area, featuring free food, conversation, and games.

  • Monday September 14 from 5:30-6:30PM, IDeATe and Design are hosting a talk by Patrik Hübner in Studio A (HL 106B) titled IDeATe Creative Conversations.

Agenda

  1. Brief followups

  2. Quick review of new sketches (Assignment 4 Shared Folder)

  3. Discussion of simulation and kinematics (Robot Simulation Design)

  4. Interlude: legwheel model demo

  5. Discussion of Webots implementation (Webots Modeling)

  6. Time permitting: individual consultation.