Locomotion and wheel kinematics

What is the term for the phenomenon where legged robots dynamically adjust their gait and posture to maintain stability during locomotion on uneven terrain?

• Terrain compensation

• Dynamic equilibrium

• Gait adaptation

• Leg synchronization

In the context of wheeled mobile robots, what is the purpose of differential drive systems?

• Increased speed

• Improved stability

• Efficient turning

• Enhanced payload capacity

In legged mobile robots, which leg configuration provides enhanced stability and adaptability?

• Tripod

• Biped

• Quadruped

• Hexapod

What is the primary advantage of a hexapod leg configuration in comparison to a quadruped in certain terrains?

• Higher speed

• Increased payload capacity

• Improved stability

• Enhanced adaptability to rough terrain

What is the advantage of holonomic wheeled mobile robots over non-holonomic ones?

• Higher speed

• Simplicity of control

• Better energy efficiency

• Greater maneuverability

What is the main purpose of mobile robot kinematics in robotics?

• Control system design

• Understanding robot dynamics

• Motion planning and trajectory generation

• Mechanical structure optimization

Which mathematical representation is commonly used for representing the position and orientation of a mobile robot in a 3D space?

• Euler angles

• Quaternions

• Homogeneous transformations

• Denavit-Hartenberg parameters

What does the kinematic constraint for a fixed wheel on a mobile robot imply?

• It can move freely in any direction.

• It can only move forward and backward.

• it can rotate about its axis but cannot translate.

• It cannot rotate or translate.

What is the primary purpose of a differential kinematic model in mobile robotics?

• Representing wheel constraints

• Predicting robot motion based on wheel velocities

• Controlling actuator torques

• Designing a stable mechanical structure

What does the term "holonomic robot" imply in the context of kinematics?

• A robot capable of omnidirectional motion without constraints

• A robot with limited degrees of freedom

• A robot that follows predefined trajectories only

• A robot with non-holonomic constraints