Robotics - - Unit 9 - Week 8: https://onlinecourses.nptel.ac.in/noc18_me61/un...

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Unit 9 - Week 8:

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Week 8 : Assignment 8
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Week 1: 1) The method of Path Velocity Decomposition is used to solve 1 point

Week 2: (a) Find-path problem in robotics.

(b) Motion planning problems of robots in dynamic environment.

Week 3:
(c) Control problem of the robot.
Week 4:
(d) None of the above problems
Week 5: No, the answer is incorrect.
Score: 0
Week 6:
Accepted Answers:
(b) Motion planning problems of robots in dynamic environment.
Week 7:
2) Behavior-based robotics works based on 1 point
Week 8:

Lecture 41 :
(a) Relative Velocity Approach
Intelligent (b) Incremental planning
Robot
(c) Reactive Control Strategy
Lecture 42 :
Biped Walking (d) Potential Field Approach
Lecture 43 : No, the answer is incorrect.
Biped
Score: 0
Walking(Contd.)
Accepted Answers:
Lecture 44 :
(c) Reactive Control Strategy
Summary

Lecture 45 :
3) In Potential Field Approach, there is 1 point
Summary
(Contd.) (a) an attractive force between the robot and its goal.

Lecture (b) a repulsive force between the robot and its goal.
Materials
(c) an attractive force between the robot and obstacle.
Quiz : Week 8 :
Assignment 8 (d) no concept of attractive and repulsive forces
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Text Transcripts (a) an attractive force between the robot and its goal.
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Assignment 4) Which one of the following statements is TRUE regarding Potential Field Approach? 1 point

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Robotics - - Unit 9 - Week 8: https://onlinecourses.nptel.ac.in/noc18_me61/un...

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(a) Its performance is independent of the chosen potential function

Interactive (b) There is a chance of this approach to get trapped into the local minimum problem
Session with particularly for a concave obstacle.
Students
(c) The robot is able to maintain a smooth motion by following the potential field approach.

(d) It is able to find a collision-free path for the robot moving among closely spaced
obstacles.

No, the answer is incorrect.

Score: 0
Accepted Answers:
(b) There is a chance of this approach to get trapped into the local minimum problem particularly for a
concave obstacle.

5) which one of the following statements is FALSE? 1 point

(a) Traditional methods of robot motion planning are computationally expensive.

(b) Traditional methods of robot motion planning are versatile.

(c) Traditional methods of robot motion planning cannot obtain time-optimal path.

(d) Traditional methods of robot motion planning cannot evolve adaptive solutions.

No, the answer is incorrect.

Score: 0
Accepted Answers:
(b) Traditional methods of robot motion planning are versatile.

6) which one of the following statements is FALSE? 1 point

(a) An intelligent robot has the ability to take the decisions, as the situation demands.

(b) All intelligent robots are autonomous.

(c) All autonomous robots should be intelligent.

(d) Intelligent robots are equipped with adaptive motion planner and controller.

No, the answer is incorrect.

Score: 0
Accepted Answers:
(b) All intelligent robots are autonomous.

7) A car-like robot is subjected to non-holonomic constraint, which is 1 point

(a) velocity dependent

(b) velocity independent

(c) motor torque dependent

(d) dependent on road condition

No, the answer is incorrect.

Score: 0
Accepted Answers:
(a) velocity dependent

8) One walking cycle of a biped robot consists of 1 point

a) one Single Support Phase (SSP) and one Double Support Phase (DSP).

b) 2 SSPs and 2 DSPs.

c) 3 SSPs and 3 DSPs.

d) 4 SSPs and 4 DSPs.

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Robotics - - Unit 9 - Week 8: https://onlinecourses.nptel.ac.in/noc18_me61/un...

No, the answer is incorrect.

Score: 0
Accepted Answers:
b) 2 SSPs and 2 DSPs.

9) Which one of the following statements is FALSE? 1 point

(a) Zero-Moment Point (ZMP) is a point about which the sum of all the moments becomes
equal to zero.

(b) In SSP, ground reaction force works through the ZMP.

(c) ZMP is used to carry out dynamic balance analysis of a biped robot.

(d) ZMP has got no role in conducting dynamic balance analysis of a biped robot.

No, the answer is incorrect.

Score: 0
Accepted Answers:
(d) ZMP has got no role in conducting dynamic balance analysis of a biped robot.

10)Which one of the following statements is TRUE? 1 point

a) A biped robot is to be dynamically stable.

b) A biped robot is to be kinematically stable.

c) A biped robot is easier to control compared to a wheeled robot.

d) Maintaining balance of a car-like robot is more difficult compared to that of a biped robot

No, the answer is incorrect.

Score: 0
Accepted Answers:
a) A biped robot is to be dynamically stable.

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