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NPTEL (https://swayam.gov.in/explorer?ncCode=NPTEL) » Wheeled Mobile Robots (course)

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exam
Week 1 : Assignment 1
(https://examform.nptel.ac.in/2025_01/exam_form/dashboard)
Your last recorded submission was on 2025-02-05, 06:48 IST Due date: 2025-02-05, 23:59 IST.

If already 1) __________ is the effect on the environment of which causes motion of the objects 1 point
registered, click around.
to check your
payment status Manipulation
Locomotion
Multiplication
Accumulation
Course
outline Complex motion
Slew motion
About NPTEL
() 2) What is the traditional 3Ds of Robotics? 1 point

How does an Design, Detail and Delicate

NPTEL online Dull, Dirty and Dangerous
course work? Dull, Discipline and Domestic
()
Dear, Dimension and Dangerous

Week 0 () Domestic, Domain and Deal

Dirty, Deep and Domestic
Week 1 ()
3) Choose the incorrect statements out of the following, for mobile robots. 1 point
Introduction to
Mobile Robots Can operate in unconstrained environments.
and
Need external sensing to avoid obstacles.
Manipulators
(unit? Need external sensing to determine position.
unit=31&lesson May or may not need to perceive the world around them.
=32)
Needs to understand its own position as well as environment around
Introduction to Position determined may not be absolute
Locomotion and
Types of
Locomotion
(unit? 4) Match the following. 1 point
unit=31&lesson
=33)

Introduction to
Mobile Robot
Kinematics
(unit? 1.a 2.b 3.c
unit=31&lesson
1.a 2.c 3.b
=34)
1.b 2.c 3.a
Degree of
1.b 2.a 3.c
Maneuverability
and Types of 1.c 2.a 3.b
Wheels (unit? 1.c 2.b 3.a
unit=31&lesson
=35)
5) Theoretically conventional wheels provide infinite resistance in __________ 1 point
Kinematic
Simulation of a lateral direction
Mobile Robot longitudinal direction
(Land-based)
both lateral and longitudinal directions
(unit?
unit=31&lesson No specific directions
=36) only vertical direction

Kinematic all three directions

Simulation and
Motion 6) The degree of freedom of an aerial robot and a wheeled mobile robot are: 1 point
Animation of a
Mobile Robot 3 and 3
(Land-based)
3 and 6
(unit?
unit=31&lesson 6 and 6
=37) 3 and 2

Lecture 6 and 3
materials (unit? 2 and 3
unit=31&lesson
=38)
7) Why is it necessary to develop a mathematical model for any given system? 1 point
Week 1
Feedback Form To understand the behaviour of the system and design the system
: Wheeled To design suitable controllers
Mobile Robots
To predict or estimate the system parameters
(unit?
unit=31&lesson To simulate the real system
=39) All the above are correct

Quiz: Week 1 : None of the above statements are correct

Assignment 1
(assessment? 8) If δm the degree of mobility of a mobile robot and δs is the degree of steerability of a 1 point
name=170) mobile robot, then the degree of maneuvarability δM is obtained by

Week 2 ()
δM = δm − δs

Week 3 ()
δM = δm + δs

Download δM = δm
Videos ()
δM = δs
Text δs = δM
transcripts ()
9) The Degree of maneuverability for a four wheeled skid steering robot is __________ 1 point
Books ()
2

Problem 4
Solving 3
Session - Jan 6
2025 ()
1
No degree of maneuvarability

10) A simple differential drive robot has an initial degree of maneuverability of 1. If a passive 1 point
steerable wheel is added to the robot, what will be the new degree of maneuverability?

2
1
3
0
6

11) The vector of the input velocity command of the land-based mobile robot is given as 1 point
2
⎡ ⎤

ζ = ⎢ 1 ⎥ and the mobile robot (body) frame is oriented 60o with respect to the fixed frame. In this
⎣ ⎦
3

case, what will be the time derivatives of the generalized coordinates?

2
⎡ ⎤

η̇ = ⎢ 1 ⎥
⎣ ⎦
3

−1.10
⎡ ⎤

η̇ = ⎢ −3.20 ⎥
⎣ ⎦
2.11

1.52
⎡ ⎤

η̇ = ⎢ −1.60 ⎥
⎣ ⎦
2.00

−1.32
⎡ ⎤

η̇ = ⎢ 1.22 ⎥
⎣ ⎦
1.00

−1.60
⎡ ⎤

η̇ = ⎢ −1.56 ⎥
⎣ ⎦
3.00

−1.25
⎡ ⎤

η̇ = ⎢ 3.0 ⎥
⎣ ⎦
2
 12) For a four wheeled skid steering typr mobile robot with four powered wheels 1 point
(considering only ground/land based): the degree of freedom is __________ and the degree of
maneuverability is __________

2 and 3
2 and 2
3 and 4
3 and 3
3 and 2
2 and 4

13) For a three omni wheel drive mobile robot: the degree of mobility is and the degree of 1 point
steerability is __________

3 and 3
0 and 3
3 and 0
3 and 6
2 and 1
1 and 2

14) For the mobile base given in the figure below, the degree of mobility is and the degree 1 point
of steerability is __________

4 and 0
0 and 4
1 and 1
 1 and 3
3 and 1
4 and 4

15) For a four mecanum wheel drive mobile robot: the degree of mobility, the degree of 1 point
steerability and the degree of maneuverability are:

4, 4, 8
0, 4, 4
4, 0, 4
3, 4, 7
4, 3, 7
3, 1, 4

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grading.
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