Intro to Robotics, Handout –Lecture 21: “The Sweetest Lecture”

Name:

robot

1. Given the green disc-shaped robot, draw the Minkowski sum obstacle.
https://youtu.be/3qMNuoTHNHs (video)

2. For the following, what are the configuration spaces?

• https://youtu.be/nPGz0Nd3QzE 5 spheres:

• https://youtu.be/QsbcIgHRSMA: 12 RC robots

• https://youtu.be/dWqpz5zV5Is: 5 discs rolling

• https://youtu.be/ZEksDxLpAzg: fluid in a tank

• https://youtu.be/5t1BTPhLod8 sliding disks

• https://youtu.be/suKWvr66DeY: 100 particles

Page 1 of 3
[fill out in class]
Define a square:

To a classmate, explain the difference between a square and a rectangle.

(use the word subset)

Draw a sphere.
Add lines of latitude and longitude

Draw a torus. Draw lines, like latitude and longitude, that assign a tuple (θ,φ) to a
coordinate on the torus

What is the configuration space of a spherical manipulator?

Page 2 of 3
 Intro to Robotics, Class Worksheet – Preparation for Lecture 22

1. Derive the equations needed to compute the shortest distance from a point p to the line
segment in the plane with vertices v1 and v2. Remember there are 3 cases!

2. Attach screenshots of paths for a random and a rectangular polygon from

demonstrations.wolfram.com/PathsInsideAPolygon/
Make sure to show paths that follow walls and that cross empty space

Page 3 of 3