Robotics Assignment:

1. Brief description about ASIMO and Sophia robot.

2. What is Robotics? Describe the Asimov’s Law of robotics?
Chp 1 3. Briefly describe different types of robots and their applications. What are the 3Hs in
robotics and motivation in robotics?
4. What are interdisciplinary areas in robotics? Describe the connectivity/Degree of
freedom of a joint?
5. What do you mean by end effectors? Explain the components of robot.
6. What are the types of joints? Explain it with appropriate figures.
7. How many degrees of freedom (DOF) are needed to position and orient the object in
Slides space?
8. What are the types of mechanisms for arm and wrists w.r.t DOF? Give some common
controllers, common actuators, and common sensors of robot.
9. How to determine the end effector velocity from joint velocity? Describe it with
example.
10. What is accuracy and repeatability in robot mechanics?
11. Define control theory and cybernetics?
12. What is Manachina Speculatrix? Describe its components and behaviors.
Chp 2 13. Describe Braitenberg’s vehicle and its application.
14. What is AI? How to make a machine intelligent?
15. Define some AI inspired robot: HILARE, CART, Rover.
16. What is robot? What are the main components of robots? Explain it.
17. Is Washing machine a robot? Is computer agent a robot?
Chp 3 18. What is embodiment in robot? Write down the important condition of using robot
embodiment.
19. Write short notes on: a)Effectors b)actuators c)Locomotion d) DoF
20. What is the difference between active actuation and passive actuation? Describe
different types of motors?
Chp 4
21. What is the difference between controllable DOF and Uncontrollable DOF? Classify the
system depending on DoF.
22. What do you mean by manipulator and manipulation? Why robot manipulation is
needed?
Chp 6 23. Briefly describe the structure of robot manipulator?
24. What is kinematics? Differentiate between direct and inverse kinematics?
25. What is link and joints? Briefly describe several types of joints with motion and DOF.
26. What is tele operation and its challenges?
27. Difference between an exteroceptive and proprioceptive sensor.
 28. Create a table listing the Creates sensors and if it is an exteroceptive of proprioceptive
sensor.
29. Organize the sensors into a list of increasing level of processing.
30. Uncertainty is not much of a problem in computer simulations, which is why simulated
Chp 7 robots are not very close to the real, physical ones. Can you figure out why?
31. Describe the levels of sensory processing.
32. How would yor detect people in an environment and measure the distance to an
object?
33. What is needed to process sensory inputs in a robot? Describe the perceptual system.
34. Write short notes on: a)infrared light b)Polarized light c) Break Beam sensor
d)Reflective-opto sensor e)Reflectance Opto sensor
Chp 8
35. What is simple sensor? What are the catagories of sensors? Describe with examples.
36. What are switches? How switches can be used in a variety of ways for sensing?
37. Describe the basic ways to arrange reflective opto sensor.
38. What are the property of light sensors that they can measure?
39. Define Ultrasonic sensors and its applications.
40. How does the sonar sensor wok?
41. What is specular reflection problem? How to overcome this problem?
42. What is laser sensing? Describe usage of laser sensor in robotics.
Chp 9 43. Define: Visual sensing, Edge, Edge detection, Noise, Model based vision, Peosopagnosia,
smoothing in robotic vision.
44. How do we deal with the noise in robot vision and how to recognize the edge?
45. Differentiate between the motion vision and stereo vision.
46. Describe the way of robot vision.
47. Describe different types of feedback controller.
48. How would you write a controller for wall following robot using feedback controller?
Chp 10 49. Draw the schematic diagram of close loop controller and open loop controller. And
mention the differences.
50. Define: feedback, feedback controller, goal states, achievement goal, maintenance goal.
51. What is the control architecture? What is the relation between computer architecture
and robot architecture?
Chp 11 52. What is turing universal? What is the best robot programming language? Describe the
capabilities of a programming language by turing universal.
53. Describe the types of control. How to differ control architecture?
54. Define the following terms: a) Planning
b)Search
Chp 13
c)Optimization and optimization criteria
d)Optimization search
 Chp 13 55. Explain SPA (plan-sense-act) architecture briefly and mention its limitations.
56. What is Reactive Control System? Draw a diagram of a reactive architecture, showing
the parallel, concurrent task achieving modules.
57. Briefly describe the term: a) Mutually exclusive conditions, b) Action Selection and
the approaches, c) Multi-tasking in reactive control sytem, d)Subsumption
Chp 14 Architecture d) Bottom up
58. What are the benefits of the subsumption style of organizing reactive system and the
goal of this subsumption architecture? What are the guiding principle of subsumption
architecture?
59. Describe the architecture of Herbert’s control system.
60. How does the robot deal with the changes of the world/Map/task?
61. Write short notes on: Planning, Replanning, Dynamic planning, Avoid Re-planning,
Chp 15
offline planning, online planning.
62. Differentiate among reactive control, deliberative control, and hybrid control. Illustrate
the hybrid architecture with figure.
63. Define: behavior, Behavior-based control, distributed representation.
Chp 16 64. Describe the key properties of behavior based system.
65. Describe some principles of good BBC (Behavior base control) design. Illustrate the
architecture of Behavior based system.
66. Which systems face the coordination problem? How does the distribution work in
Chp 17 them?
67. Describe the ways of selecting next behavior/action.
68. Describe behavior arbitration and behavior fusion with an appropriate example.
69. Write short notes on: Navigation, SLAM, coverage.
Chp 19
70. What is state estimation? Why it is difficult to estimate the state in localization?
71. How can we control group robots? Why would we even consider this type of robots
team organization?
Chp 20
72. Why would robots communicate and how can it communicate?
73. Describe the architectures for multi-robot control.
74. Define the terms: Learning, Reinforcement learning, Exploration, Exploitation,
Chp 21 Exploration VS Exploitation, control policy, Temporal credit assignment, Spatial credit
assignment.
75. Write some future application of robotics.
76. Write short notes on: Surgical robotics, humanoid robotics, Human-robot interaction
Chp 22 (HRI), Robonaut.
77. Define different fields of robotics and STEM.
78. Describe ethical implementation of robotics and why 21st century is especially pivotal
time for robotics?
Robot localization 79. What is localization in robotics? Describe a localization problem in a sugar field for
paper collecting aerial images of a robot?
80. Describe the benefit of reinforcement learning over supervised learning and imitation
learning.
Reinforcement 81. What is reinforcement learning? Discuss the challenges in robotics reinforcement
learning.
82. Briefly explain how to win and fail at learning of robotics?
83. What is deep learning? Write down the steps of designing deep learning based on vision
Deep learning
application shortly.
paper
84. Write the differences between CNN and Fully convolutional network?
85. What do you mean by 2D jacobian? What are the link between jacobian and robotics?
Jacobian 86. Using 2D jacobian find the area of circle given that,
x = r cos θ
y = rsin θ
End to End 87. What are the elements of reinforcement learning? And show the agent-environment
interface of reinforcement learning.
Robotic vision 88. What is visual servoing? Explain different types of control system in visual servoing?
tech paper 89. What are the difference between computer vision and robot vision? How can we relate
them?
Robotic vision 90. What are robotic vision systems? What are applications and benefits for robotic vision
system used in industry or for service robot.
control 91. What architectures are used in control mechanism of robot? Explain them.
92. Define the terms: a) Locomotion

b)Gait and robot gait properties

c) Static and Dynamically stable walking

d) Trajectory
Passive
e)Rimless Wheel
dynamic
walking paper f)Synthetic Wheel

g)Static Equlibrium

93. Why linearly feedback control is inappropriate in control mechanism and what is the
way to recover it?
94. What are the effects of parameter variation in dynamic walking of biped robot? How can
we get fully passive walking?
95. Define Stiffness matrix, support transfer. What is the solution for walking cycle?
 96. Define equation of motion. Find out the equation of motion in matrix form for the given
2DoF robot manipulator or hand in the figure below:

97. Find out the equation of motion in matrix form for calculation of force for given 4DoF
biped robot in the figure below:

3 projects

98. Find out the equation of motion in matrix form for the figure below of 3DoF eight leg
rimless wheel robot:

99. What is the relationship between image processing and robot vision.
100. Define the uniform acceleration. Write the equation of general 3D motions and
Eqn of motion
write the equation of constant linear acceleration in any direction, and the equation of
constant circular acceleration.
101. Elaborate the relationship between IoT and Robotics? Diagrammatically
demonstrate Smart windows system with its System diagram?

102. What is Navigation system? Write some application of this system? Where can
we use navigation in robot’s device? Diagrammatically elaborate this phenomenon.

103. What is robot vision? Elaborate the various components of biological and
synthetic vision system with necessary figures.

104. Link between robotics and signal processing and elaborate with examples.