NPTEL Advanced Robotics Week 12 Assignment Answers 2025
1. For a biped robot to be dynamically balanced during single stance
- The projection of the center of mass (CoM) should be inside the support polygon.
- ZMP should be inside the support polygon.
- Projection of CoM would lie inside, but ZMP may lie outside the support polygon.
- ZMP should coincide with the projection of CoM.
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2. The number of DoFs for the dynamically unstable hopping robot is
- 1
- 3
- 2 or 3
- 2
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3. A minimum of how many DoFs does a biped need for walking straight
- 8
- 10
- 12
- 6
Answer :-
4. The number of hip and ankle (leg) trajectories that a biped need for moving
(walking) forward is
- a multiple of 2
- infinite
- 2
- 4
Answer :-
5. Optimal trajectories of walk for a biped can be formed by
- differentiating the joint rate
- taking the gradient of manipulability
- obtaining a desired pose during double support phase
- minimizing energy during gait
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6. Compliance during walk can be obtained in a biped by
- using a flexible link.
- careful design of the trajectory.
- by reducing the impact velocity to zero.
- by using a smart actuator.
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7. Multiagents in a swarm robot are needed for
- cooperative tasks that cannot be done by individual robots.
- Individual performance improvement
- swarm optimization
- repetitive task
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8. A moving object can be captured by multiple mobile robots having point
contact with friction satisfying.
- depends on the number of mobile robots
- force closure
- form closure
- either force or form closure
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9. A moving object is constrained by multiple mobile robots. We can check if it is fully constrained by examining the
- disturbance wrenches
- disturbance twists
- degrees of freedom
- freedom angle
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10. The minimum number of mobile robots required to constrain a 2D moving
object is (having a frictionless contact)
- 4
- 3
- depends on the shape of the object
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