NPTEL Advanced Robotics Week 11 Assignment Answers 2025
1. The mathematical analysis of multi-finger grasping and manipulation based
on screw theory considers the following
- Kinematic manipulability
- Dynamic manipulability
- Twists and Wrenches
- Impedance control
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2. For a fingertip contact type having point contact with friction, there are
respectively how many twists and wrenches acting
- 5 and 3
- 4 and 1
- 5 and 2
- 3 and 3
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3. When an object is grasped by a multi-finger robot hand and is in force
closure then
- It can reject a subset of all disturbance wrenches.
- It can reject a subset of all disturbance twists.
- It can reject all disturbance twists and wrenches.
- It can reject all disturbance twists.
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4. A grasp is said to be in Form Closure if it can
- reject a subset of all disturbance twists.
- reject all disturbance twists and wrenches.
- reject all arbitrary disturbances twists
- reject all arbitrary disturbances wrenches
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5. The internal force required for grasping belongs to
- row space
- eigen vector space
- null space
- arbitrary vector space
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6. When an object is grasping by a multifinger hand the total solution of the
finger tip force consists of
- homogeneous solution only.
- particular solution only.
- all possible solutions in the null space.
- homogeneous solution and particular solution.
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7. GAIT is defined as the
- pattern of foot placement
- pattern of body movement
- pattern of hip movement
- orientation of foot and hands
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8. In the wave gait of a quadruped robot, how many legs are in the air at a
time instance.
- depends on the ground condition
- either one or two
- two
- one
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9. A passive biped robot walks down the inclined surface. Where does it get
its energy to walk from
- spring
- gravity
- compliant link
- capacitor
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10. An active biped
- is a dynamically balanced system
- uses gravitational force only to walk
- is a dynamically unbalanced system
- dynamically unbalanced when walking at high speed otherwise it’s al-ways balanced dynamically.
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