Non-Glossary¶
Following is a list of related keywords. It would be a glossary except there are no definitions. :)
general robotics terms¶
locomotion
manipulation
vision
navigation and localization
human-robot interaction
control theory
machine learning
planning
artificial intelligence
soft robotics terms¶
morphological computation
compliance
Young’s modulus
elastomer
McKibben actuator
continuum deformation
piecewise constant curvature (PCC)
pneumatic network
granular jamming
electrorheological fluid
biology and robotics¶
biomimetic
biorobotics
proprioception
grasp
non-prehensile
closure
primitive
behavior
control theory¶
system
state
velocity
trajectory
open-loop
closed-loop
feedback
sensor
model
stability
passive stability
mechanism¶
degree of freedom
kinematics
underactuation
pneumatic actuator
DC motor
servomotor
hobby servo
stepper motor
encoder
compliant
series-elastic
holonomic and non-holonomic
kinematics¶
An rigid body unconstrained in space can be described as a ‘free joint’ which imposes no constraints. It has six degrees of freedom: three translational freedoms, and three spatial rotational freedoms. There are several common numerical representations of the rotational freedoms:
A pair of rigid bodies may be constrained by physical contact (e.g. a joint bearing) to form a Kinematic pair.
In particular, a ‘lower pair’ is an idealized joint between two rigid bodies. Following are all the lower pairs:
DOF |
joint |
|---|---|
1 |
wheel, hinge, pivot, “revolute pair” |
1 |
slider, “prismatic joint” |
1 |
screw |
2 |
cylindrical |
3 |
planar |
3 |
ball and socket, “spherical” |