Question 1 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is the term described for the robot to walk on two legs? Please answer in all lowercase.

*A: bipedalism

Feedback: Correct! The term for the robot to walk on two legs is bipedalism.

Default Feedback: Incorrect. This is not the right term.

Question 2 - multiple choice, shuffle, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is one of the primary challenges faced by bipeds?

*A: Maintaining active balance control

Feedback: Correct! Maintaining active balance control is indeed a primary challenge faced by bipeds.

B: Achieving high speeds

Feedback: Not quite. While achieving high speeds can be challenging, it is not the primary challenge.

C: Reducing energy consumption

Feedback: Incorrect. Although reducing energy consumption is important, the main challenge for bipeds
is not this.

D: Enhancing visual perception

Feedback: No, enhancing visual perception is not the main challenge.

Question 3 - numeric, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

How many legs does a bipedal robot use for locomotion?

*A: 2.0
Feedback: Correct! A bipedal robot uses 2 legs for locomotion.

Default Feedback: Incorrect. Try again.

Question 4 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

In inverse dynamics control, what is the main goal?

*A: To calculate the required torques to achieve a desired motion

Feedback: Correct! The main goal of inverse dynamics control is to calculate the required torques to
achieve a desired motion.

B: To minimize the energy consumption of the robot

Feedback: Incorrect. While energy efficiency is important, it's not the main goal of inverse dynamics
control.

C: To stabilize the robot's position

Feedback: Incorrect. Stabilizing the robot's position is typically a goal of feedback control, not inverse
dynamics control.

D: To optimize the robot's path planning

Feedback: Incorrect. Path planning optimization is not the main goal of inverse dynamics control.

Question 5 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

What is the term used to describe the matrix that represents the robot's mass and inertia properties in
Lagrangian mechanics? Please answer in all lowercase.

*A: inertia

Feedback: Correct! The term inertia represents the robot's mass and inertia properties in Lagrangian
mechanics.
Default Feedback: Incorrect. Please review the properties of the robot's mass and inertia in Lagrangian
mechanics.

Question 6 - multiple choice, shuffle, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning Objective: Introduction to dynamics and control

A particle moves in a conservative force field where its kinetic energy (T) and potential energy (V) are
known. Which of the following equations represents the Lagrangian (L) in this scenario?

*A: \[ L = T - V \]

Feedback: Correct! The Lagrangian (L) is defined as the difference between the kinetic energy (T) and the
potential energy (V).

B: \[ L = T + V \]

Feedback: Incorrect. This equation represents the total mechanical energy, not the Lagrangian.

C: \[ L = T \* V \]

Feedback: Incorrect. The Lagrangian is not the product of kinetic and potential energy.

D: \[ L = T \ V \]

Feedback: Incorrect. The Lagrangian is not the ratio of kinetic and potential energy.

Question 7 - numeric, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

If a robot's link has a mass of 2 kg and is moving with a velocity of 3 m/s, what is its kinetic energy (in
Joules)?

*A: 9.0

Feedback: Correct! The kinetic energy is calculated using the formula \[KE = \frac{1}{2}mv^2\].

Default Feedback: Incorrect. Please review the formula for calculating kinetic energy.

Question 8 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Walking like a rimless wheel

Which Newton's law is primarily applied when analyzing the dynamical effects on a robotic limb during
motion?

A: Newton's First Law

Feedback: Incorrect. Newton's First Law deals with inertia, which is not the primary focus when
analyzing dynamical effects during motion.

*B: Newton's Second Law

Feedback: Correct! Newton's Second Law, which states that Force equals mass times acceleration (\[ F =
ma \]), is primarily used to analyze the dynamical effects during motion.

C: Newton's Third Law

Feedback: Incorrect. Newton's Third Law deals with action and reaction forces, but it is not primarily
used for analyzing dynamical effects during motion.

D: The Law of Universal Gravitation

Feedback: Incorrect. The Law of Universal Gravitation deals with gravitational forces, not the specific
dynamical effects on a moving robotic limb.

Question 9 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review LTI Mechanical Dynamical Systems

What term describes the force that opposes the motion of a robot's limb through a fluid, Medium? Please
answer in all lowercase.

*A: drag

Feedback: Correct! Drag is the force that opposes the motion of a robot's limb through a fluid, Medium.

Default Feedback: Incorrect. Remember, the term specific to the force opposing motion in a fluid,
Medium is what we're looking for.

Question 10 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bioinspiration

Which of the following principles is most critical when designing robotic limbs for efficient movement?
*A: High torque generation

Feedback: Correct! High torque generation is essential for efficient movement as it allows the robot to
apply the necessary forces to move its limbs.

B: Low weight materials

Feedback: Not quite. While low weight materials are important for speed, it’s not much critical for
efficient movement.

C: Compact size

Feedback: Incorrect. Compact size can be beneficial for maneuverability, but it doesn't directly impact the
efficiency of movement.

D: Energy efficiency

Feedback: Energy efficiency is important for battery life and overall performance, but it is not the most
critical principle for efficient movement.

Question 11 - checkbox, shuffle, partial credit, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Sprawled posture runners

Select the design principles commonly applied in the creation of sprawled posture runners.

*A: Low center of gravity

Feedback: Correct! A low center of gravity helps in maintaining stability during movement.

B: High center of gravity

Feedback: Incorrect. A high center of gravity would make the robot less stable, not more.

C: Narrow stance

Feedback: Incorrect. A narrow stance would decrease stability.

Question 12 - numeric, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

If a robotic limb exerts a force of 50 N and the area of contact is 0.5 m^2, what is the pressure exerted by
the limb?

*A: 100.0
Feedback: Correct! You have applied the formula for pressure correctly.

Default Feedback: Incorrect. Remember the formula to calculate pressure.

Question 13 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

What law explains the dynamical effects in robotic systems when a force is applied? Please answer in all
lowercase.

*A: newton

Feedback: Correct! Newton's laws explain the dynamical effects in robotic systems.

Default Feedback: Incorrect. Please review the laws of dynamics and their application in robotics.

Question 14 - checkbox, shuffle, partial credit, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Quadrupeds

A robotics team is designing a quadruped robot inspired by animal biomechanics for efficient running and
jumping. Based on these principles, which of the following design features should they prioritize?

*A: Legs capable of energy storage

Feedback: Correct! Effective leg designs should store and release energy efficiently, just as observed in
animals.

B: Centralized control system

Feedback: Incorrect. While control systems are important, the emphasis should be on accurate torque
control and mechanical efficiency.

*C: Adjustable leg stiffness

Feedback: Correct! Animals adjust leg stiffness with speed, a principle that should be incorporated into
the robot’s design.

D: Fixed leg stiffness

Feedback: Incorrect. Fixed stiffness limits adaptability, so it is not an effective feature.

Question 15 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What do some bipedal animals and robots use to aid in body orientation control? Please answer in all
lowercase.

*A: tail

Feedback: Correct! Tails are used for body orientation control.

Default Feedback: Incorrect. Try revisiting the section on body orientation control in bipedal locomotion.

Question 16 - multiple choice, shuffle, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is one advantage of using tails in bipedal locomotion?

*A: Enhanced body orientation control

Feedback: Correct! Tails help in controlling body orientation during locomotion.

B: Improved respiratory functions

Feedback: Incorrect. Tails do not contribute to respiratory functions in bipedal locomotion.

C: Increased limb strength

Feedback: No, tails do not directly increase limb strength.

D: Better grip on surfaces

Feedback: No, tails are not used for gripping surfaces in bipedal locomotion.

Question 17 - numeric, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review of kinematics

On average, how many degrees of freedom are involved in the leg movement of a rigid body?

*A: 6.0
Feedback: Correct! Each leg typically has around 6 degrees of freedom.

Default Feedback: Incorrect. Consider reviewing the section on the degrees of freedom.

Question 18 - checkbox, shuffle, partial credit, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

In a scenario where a bipedal robot is tasked with maintaining stability while navigating rough terrain,
which of the following would likely pose a challenge?

*A: Maintaining balance

Feedback: Correct! Balance maintenance is a significant challenge in bipedal locomotion.

*B: High energy expenditure

Feedback: Correct! Bipedal locomotion can be energy-intensive.

C: Reduced torque requirements

Feedback: Incorrect. Bipedal locomotion often demands higher torque due to fewer limbs in contact with
the ground.

*D: Complex control mechanisms

Feedback: Correct! Bipedal locomotion requires complex control mechanisms.

E: Decreased use of inertial appendages

Feedback: Incorrect. Inertial appendages like tails are often crucial for tasks and not a challenge.

Question 19 - checkbox, shuffle, partial credit, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Quadrupeds

Which of the following are key design principles for creating efficient quadruped robots?

*A: Distributed weight

Feedback: Correct! Distributed weight is a key design principle for creating efficient quadruped robots.

B: High center of gravity

Feedback: Incorrect. A high center of gravity is not desirable for stability in quadruped robots.
*C: Flexible joints

Feedback: Correct! Flexible joints are crucial for the movement and adaptability of quadruped robots.

D: Rigid limbs

Feedback: Incorrect. Rigid limbs do not allow for the flexibility needed in efficient quadruped robots.

Question 20 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Sprawled posture runners

What is the primary advantage of using a sprawled posture in robotic runners?

*A: Improved stability during high-speed turns

Feedback: Correct! A sprawled posture provides improved stability during high-speed turns.

B: Decreased power consumption

Feedback: Incorrect. While power consumption is a consideration, the primary advantage of a sprawled
posture is not that.

C: Increased load-carrying capacity

Feedback: Incorrect. The primary advantage of a sprawled posture is not related to load-carrying capacity.

D: Enhanced maneuverability in tight spaces

Feedback: Incorrect. While maneuverability is important, it is not the primary advantage.

Question 21 - numeric, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

Calculate the kinetic energy of a robotic limb with a mass of 5 kg moving at a velocity of 2 m/s.

*A: 10.0

Feedback: Correct! The kinetic energy is calculated using the formula \[\frac{1}{2}mv^2\].

Default Feedback: Incorrect. Please review the formula for kinetic energy and try again.

Question 22 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review LTI Mechanical Dynamical Systems

What is the term for the measure of resistance of an object to changes in its state of motion? Please
answer in all lowercase.

*A: inertia

Feedback: Correct! Inertia is the measure of resistance of an object to changes in its state of motion.

Default Feedback: Incorrect. Please review the concepts related to Newton's laws and try again.

Question 23 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

What is the primary purpose of using Lagrangian mechanics in robotics?

*A: To analyze the motion of robots by focusing on energy minimization.

Feedback: Correct! Lagrangian mechanics helps in analyzing the motion of robots by minimizing the
difference between kinetic and potential energy.

B: To calculate the torque required for each joint.

Feedback: This is not correct.

C: To design the robot's control algorithms.

Feedback: Incorrect. Design the robot’s control algorithms is not its purpose.

D: To ensure the stability of the robot.

Feedback: Incorrect. This is not the primary purpose of using Lagrangian mechanics.

Question 24 - numeric, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Actuator technologies

A robot's joint is experiencing a torque of 10 N·m and the joint's angular velocity is 2 rad/s. What is the
power in Watts?

*A: 20.0
Feedback: Correct! Power is calculated as torque multiplied by angular velocity.

Default Feedback: Incorrect. Remember the formula of power.

Question 25 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

What is the term used to describe the difference between the desired and actual position in Proportional
Derivative Control? Please answer in all lowercase.

*A: error

Feedback: Correct! This term is known as 'error'.

*B: positionerror

Feedback: Correct! This term is known as 'positionerror'.

*C: position error

Feedback: Correct! This term is known as 'positionerror'.

Default Feedback: Incorrect. Revisit the lesson on Proportional Derivative Control to understand the term
used to describe the difference between the desired and actual position.

Question 26 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review of kinematics

In inverse dynamics control, what role does the Jacobian matrix play?

*A: Transforming joint velocities to end-effector velocities and vice versa.

Feedback: Correct! The Jacobian matrix helps in transforming joint velocities to end-effector velocities
and vice versa.

B: Calculating the torque required for each joint.

Feedback: Incorrect. While the Jacobian matrix is related to velocities, it does not relate to torque
calculation.

C: Distributing energy among the robot's joints.

Feedback: Incorrect. The Jacobian matrix does not directly deal with energy distribution.

D: Analyzing the stability of the robot.

Feedback: Incorrect. The Jacobian matrix does not primarily focus on stability analysis.

Question 27 - checkbox, shuffle, partial credit, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

Which of the following are components of Lagrangian Mechanics?

*A: Generalized coordinates

Feedback: Correct! Generalized coordinates are indeed a component of Lagrangian Mechanics.

*B: Kinetic energy

Feedback: Correct! Kinetic energy is indeed a component of Lagrangian Mechanics.

C: Friction

Feedback: Incorrect. Friction is generally not included explicitly in Lagrangian Mechanics.

*D: Potential energy

Feedback: Correct! Potential energy is indeed a component of Lagrangian Mechanics.

E: Actuator dynamics

Feedback: Incorrect. Actuator dynamics are not a primary component of Lagrangian Mechanics.

Question 28 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is the term used to describe the tail's function in controlling body orientation in bipedal robots?
Please answer in all lowercase.

*A: stabilization

Feedback: Correct! Stabilization is the term used for this function.

Default Feedback: Incorrect. Please review the lesson on the role of tails in bipedal locomotion.

Question 29 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

Why do bipedal robots require active balance control?

*A: To prevent falling over

Feedback: Correct! Active balance control is essential to keep bipedal robots from falling.

B: To reduce energy consumption

Feedback: Not quite. Active balance control does not necessarily reduce energy consumption.

C: To simplify navigation algorithms

Feedback: Incorrect. Active balance control actually makes navigation algorithms more complex.

D: To increase speed

Feedback: No, the primary reason for active balance control is not to increase speed.

Question 30 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is a major advantage of using tails for body orientation control in bipedal robots?

*A: Enhanced stability during locomotion

Feedback: That's correct! Tails provide enhanced stability, especially during rapid movements.

B: Increased energy savings

Feedback: Not quite. Increased energy savings is not an advantage using tails.

C: Reduced need for sensors

Feedback: Incorrect. The use of tails does not reduce the need for sensors; in fact, it might require more
sophisticated sensing.

D: Simplified control algorithms

Feedback: No, using tails actually makes control algorithms more complex.
Question 31 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

Which dynamical effect is observed in a robotic system when an external force is applied to it?

*A: Inertia

Feedback: Correct! Inertia is the resistance of any physical object to any change in its velocity.

B: Elasticity

Feedback: Incorrect. Elasticity refers to the ability of an object to return to its original shape after being
deformed.

C: Friction

Feedback: Incorrect. Friction is the force resisting the relative motion of solid surfaces, fluid layers, and
material elements sliding against each other.

D: Gravity

Feedback: Incorrect. Gravity is the force by which a planet or other body draws objects toward its center.

Question 32 - checkbox, shuffle, partial credit, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

Select the design principles that are crucial for the development of biped robots.

*A: Balance and stability

Feedback: Correct! Balance and stability are essential for biped robots to maintain an upright position and
move effectively.

B: High-speed locomotion

Feedback: Incorrect. While speed is important, it is not the primary design principle for biped robots.

*C: Energy efficiency

Feedback: Correct! Energy efficiency ensures that the biped robots can operate for longer periods without
requiring frequent recharging.

D: Aerodynamic design

Feedback: Incorrect. Aerodynamic design is more crucial for flying robots than for biped robots.

Question 33 - numeric, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review LTI Mechanical Dynamical Systems

If a robotic limb exerts a force of 25 N over a distance of 2 meters in 5 seconds, what is the power output
of the limb in watts?

*A: 10.0

Feedback: Correct! Power is calculated as the work done over time. Review the principles of work and
energy to understand this calculation better.

Default Feedback: Incorrect. Remember how power is calculated. Revisit the formula and try again.

Question 34 - multiple choice, shuffle, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is a key reason for the evolution of bipedalism in animals?

*A: Energy efficiency

Feedback: Correct! Energy efficiency is a significant factor in the evolution of bipedalism.

B: Predation avoidance

Feedback: Not quite. Predation avoidance is a reason but not the key one in many cases.

C: Social interaction

Feedback: Incorrect. Social interaction plays a role, but it is not the key reason.

D: Tool use facilitation

Feedback: No, tool use facilitation is important but not the primary reason.
Question 35 - numeric, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

If a robot's link has a mass of 3 kg and is moving with a velocity of 4 m/s, what is its kinetic energy (in
Joules)?

*A: 24.0

Feedback: Correct! The kinetic energy is calculated using the formula \[ KE = \frac{1}{2}mv^2 \].

Default Feedback: Incorrect. Please review the formula for kinetic energy.

Question 36 - multiple choice, shuffle, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

A robotic arm is being designed to follow precise movements in a dynamic environment. Which of the
following best describes the purpose of the Lagrangian in Lagrangian mechanics?

*A: To find the equations of motion for the system

Feedback: Correct! The Lagrangian is used to derive the equations of motion.

B: To calculate the system's total energy

Feedback: Incorrect. The Lagrangian is not used to calculate total energy.

C: To determine the system's stability

Feedback: Incorrect. The Lagrangian is not used for stability analysis.

D: To evaluate the control input for the system

Feedback: Incorrect. The Lagrangian is not used for control inputs.

Question 37 - checkbox, shuffle, partial credit, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review of kinematics

Select all the elements that are part of the Inverse Dynamics Control process.
*A: Computing the required forces and torques

Feedback: Correct! This is a part of the Inverse Dynamics Control process.

B: Evaluating the robot's performance in real-time

Feedback: Incorrect. Real-time performance evaluation is not a direct part of Inverse Dynamics Control.

*C: Using the robot's kinematic equations

Feedback: Correct! Kinematic equations are used in the process.

D: Implementing a feedback control loop

Feedback: Incorrect. Feedback control loops are more associated with PD control.

*E: Calculating the desired trajectory

Feedback: Correct! Calculating the desired trajectory is part of the process.

Question 38 - numeric, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

A robot arm experiences a torque of 50 Nm at its joint. If the moment of inertia at that joint is 10 kg·m²,
what is the angular acceleration (in rad/s²)?

*A: 5.0

Feedback: Correct! You applied the formula for angular acceleration (torque divided by moment of
inertia) correctly.

Default Feedback: Incorrect. Remember to use the formula for angular acceleration.

Question 39 - multiple choice, shuffle, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

In Lagrangian mechanics, which term represents the difference between kinetic and potential energy?

*A: Lagrangian
Feedback: Correct! The Lagrangian is defined as the difference between the kinetic and potential energy
of the system.

B: Hamiltonian

Feedback: Incorrect. The Hamiltonian is the sum of the kinetic and potential energy, not the difference.

C: Jacobian

Feedback: Incorrect. The Jacobian is a matrix of first-order partial derivatives, not related to energy
directly.

D: D'Alembert's principle

Feedback: Incorrect. D'Alembert's principle is a statement about forces and motion, not about energy.

Question 40 - checkbox, shuffle, partial credit, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review of kinematics

Which of the following are necessary parameters to compute the inverse dynamics of a robot?

*A: Joint positions

Feedback: Correct! Joint positions are necessary to compute the inverse dynamics of a robot.

*B: Joint velocities

Feedback: Correct! Joint velocities are also necessary for computing inverse dynamics.

*C: External forces

Feedback: Correct! External forces acting on the robot are required to compute the inverse dynamics.

D: Joint limits

Feedback: Incorrect. While important for robot motion planning, joint limits are not directly required for
computing inverse dynamics.

E: Control gains

Feedback: Incorrect. Control gains are part of the control system, not the inverse dynamics computation.

Question 41 - checkbox, shuffle, partial credit, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

Which of the following are advantages of bipedal locomotion in robots? Select all that apply.

*A: Improved maneuverability in complex environments

Feedback: Correct! Bipedal robots can navigate complex environments with greater ease.

B: Enhanced stability on uneven terrain

Feedback: Incorrect. Bipedal locomotion typically presents more stability challenges on uneven terrain
compared to other forms of locomotion.

*C: Ability to use arms for manipulation tasks

Feedback: Correct! Bipedal robots can use their arms for tasks other than locomotion.

D: Reduced energy requirement for movement

Feedback: No, bipedal locomotion often requires more energy compared to other forms of movement.

*E: Increased adaptability to various terrains

Feedback: Correct! Bipedal robots can adapt to a variety of terrains effectively.

Question 42 - multiple choice, shuffle, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is a significant challenge associated with bipedal locomotion in robots?

*A: Maintaining active balance control

Feedback: Correct! Active balance control is indeed a significant challenge for bipedal locomotion in
robots.

B: Efficient energy consumption

Feedback: Not quite. While energy consumption is an important consideration, it is not the challenge.

C: Simplified mechanical design

Feedback: Incorrect. Bipedal locomotion actually complicates the mechanical design rather than
simplifying it.

D: Increased speed of movement

Feedback: No, the increased speed of movement is not a primary challenge for bipedal locomotion in
robots.

Question 43 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Bipeds

What is the term for the ability of a robot to maintain its posture while standing or moving? Please answer
in all lowercase.

*A: balance

Feedback: Correct! The term is 'balance'.

*B: equilibrium

Feedback: Correct! The term 'equilibrium' is also acceptable.

*C: stability

Feedback: Correct! 'Stability' is another acceptable term.

Default Feedback: Incorrect. Please review the course material on posture in robots.

Question 44 - numeric, difficult

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

If a robot arm's proportional gain (K_p) is set to 250 and the derivative sgain (K_d) is set to 50, what is
the value of the control input (u) for an error (e) of 0.02 and rate of change of error (\dot{e}) of 0.01 using
PD control law? Provide a numeric value up to 1 decimal place.

*A: 5.5

Feedback: Correct! You have applied the PD control law correctly => \[u = K_p e + K_d \dot{e}\].

Default Feedback: Incorrect. Review the PD control law and ensure you are applying it correctly.

Question 45 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

What is the term used to describe the sum of kinetic and potential energy in a system? Please answer in
all lowercase.

*A: totalenergy

Feedback: Correct! The term is 'total energy'.

*B: total energy

Feedback: Correct! The term is 'total energy'.

*C: mechanicalenergy

Feedback: Correct! The term is 'mechanical energy'.

*D: mechanical energy

Feedback: Correct! The term is 'mechanical energy'.

*E: energy

Feedback: Correct! The term is 'energy'.

Default Feedback: Incorrect. Review the definitions of different types of energy in the context of
Lagrangian Mechanics.

Question 46 - multiple choice, shuffle, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

Which of the following equations correctly represents the Lagrangian \(L\) for a simple pendulum with
length \(l\), mass \(m\), and angular displacement \(\theta\)?

*A: \[L = \frac{1}{2} m l^2 \dot{\theta}^2 - mgl(1 - \cos(\theta))\]

Feedback: Correct! This is the standard form of the Lagrangian for a simple pendulum.

B: \[L = \frac{1}{2} m \dot{\theta}^2 - mgl\theta\]

Feedback: Incorrect. Pay attention to the form of the kinetic and potential energy terms.

C: \[L = m l^2 \dot{\theta}^2 + mgl(1 - \cos(\theta))\]

Feedback: Incorrect. Make sure to consider the sign and form of the potential energy term.

D: \[L = \frac{1}{2} m l^2 \dot{\theta}^2 + \frac{1}{2} mgl\theta^2\]

Feedback: Incorrect. Review the derivation of the Lagrangian for a simple pendulum.

Question 47 - checkbox, shuffle, partial credit, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduction to dynamics and control

Which of the following are true about Inverse Dynamics Control in robotics?

*A: It aims to cancel out the dynamics of the robot.

Feedback: Correct! Inverse Dynamics Control works by canceling out the robot's dynamics to achieve
desired motion.

*B: It is also known as Computed Torque Control.

Feedback: Correct! Inverse Dynamics Control is often referred to as Computed Torque Control.

C: It cannot be combined with other control methods.

Feedback: Incorrect. Inverse Dynamics Control can be combined with other control methods.

*D: It requires an accurate model of the robot's dynamics.

Feedback: Correct! An accurate model of the robot's dynamics is essential for Inverse Dynamics Control
to work effectively.

E: It is highly robust to modeling errors and disturbances.

Feedback: Incorrect. Inverse Dynamics Control is sensitive to modeling errors and disturbances.

Question 48 - text match, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Quadrupeds

What term describes the walking mechanism of a robot with four legs? Please answer in all lowercase.

*A: quadruped
Feedback: Correct! A robot with four legs is referred to as a quadruped.

*B: quadrupedal

Feedback: Correct! A robot with four legs is referred to as quadrupedal.

Default Feedback: Incorrect. Review the characteristics of robots with different numbers of legs.

Question 49 - numeric, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Review LTI Mechanical Dynamical Systems

If a robotic limb exerts a force of 50 N and moves a distance of 2 meters, what is the work done by the
limb?

*A: 100.0

Feedback: Correct! The work done by the limb is calculated using the formula \[Work = Force \times
Distance\].

Default Feedback: Incorrect. Ensure you are using the correct formula for calculating work.

Question 50 - multiple choice, shuffle, easy

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

What is a significant limitation of robotic limbs?

*A: Limited range of motion

Feedback: Correct! Robotic limbs often have a limited range of motion compared to biological limbs.

B: High energy efficiency

Feedback: Incorrect. High energy efficiency is an advantage, not a limitation, of robotic limbs.

C: Simple control algorithms

Feedback: Incorrect. Simple control algorithms are generally an advantage, not a limitation.

D: Ability to operate in extreme temperatures

Feedback: Incorrect. The ability to operate in extreme temperatures is an advantage for robotic limbs.
Question 51 - checkbox, shuffle, partial credit, medium

Question category: Module: Anchors: Embodied Behaviors

Learning objective: Why and how do animals move?/ Review LTI Mechanical Dynamical Systems/
Legged Mobility: dynamic motion and the management of energy

Which of the following factors affect the dynamical behavior of a robotic system according to Newton's
laws?

*A: Mass of the robot

Feedback: Correct! The mass of the robot directly affects its acceleration according to Newton's second
law.

*B: Friction between moving parts

Feedback: Correct! Friction is a force that opposes motion and affects the dynamics of the robotic system.

C: Color of the robot

Feedback: Incorrect. The color of the robot does not affect its dynamical behavior.

*D: Material of the surface on which it moves

Feedback: Correct! The material of the surface affects friction and, consequently, the dynamics of the
robot.

Question 52 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Walking like a rimless wheel

What is the term used to describe the simplified models that capture the essential dynamics of legged
locomotion? Please answer in all lowercase.

*A: templates

Feedback: Correct! These simplified models are known as templates.

*B: template

Feedback: Correct! The singular form 'template' is also acceptable.

Default Feedback: Incorrect. Review the concept of template dynamics in the lesson.

Question 53 - checkbox, shuffle, partial credit, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

Which of the following are control strategies used to regulate hopping height in legged robots?

*A: Modulating leg stiffness

Feedback: Correct! Modulating leg stiffness is a key strategy to control hopping height.

B: Adjusting body posture

Feedback: Incorrect. Adjusting body posture is not directly related to controlling hopping height.

*C: Changing leg length

Feedback: Correct! Changing leg length affects the hopping height in legged robots.

D: Varying forward speed

Feedback: Incorrect. Forward speed variation is more related to controlling speed rather than hopping
height.

Question 54 - multiple choice, shuffle, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

Why is running considered an important mode of robotic locomotion?

*A: It allows robots to cover ground quickly while maintaining stability.

Feedback: Correct! Running enables robots to move quickly and maintain stability, which is crucial for
efficient locomotion.

B: It is easier to implement than walking.

Feedback: Incorrect. Running can be more complex to implement than walking due to the dynamic
stability requirements.

C: It consumes less energy than walking.

Feedback: Incorrect. Running generally consumes more energy than walking.

D: It requires simpler control algorithms.

Feedback: Incorrect. Running often requires more sophisticated control algorithms compared to walking.

Question 55 - multiple choice, shuffle, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Walking like a rimless wheel

What is the primary purpose of the Spring Loaded Inverted Pendulum (SLIP) model in robotic
locomotion?

*A: To model the dynamics of running in legged robots

Feedback: Correct! The SLIP model is used to simulate and understand the dynamics of running in legged
robots.

B: To control the hopping height in legged robots

Feedback: Incorrect. While the SLIP model can contribute to understanding hopping dynamics, it's not
the primary purpose.

C: To maintain the posture of legged robots during walking

Feedback: Incorrect. The SLIP model does not focus on posture maintenance during walking.

D: To design the leg structure of bipedal robots

Feedback: Incorrect. Structural design is not the primary purpose.

Question 56 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Legged Mobility: dynamic motion and the management of energy

Select the components that are considered behavioral components in mobile robots.

*A: Sensors

Feedback: Correct! Sensors are crucial for behavioral responses in robots.

B: Chassis

Feedback: Incorrect. The chassis is a structural component, not a behavioral one.

*C: Actuators

Feedback: Correct! Actuators are used to perform actions based on behaviors.

D: Wiring
Feedback: Incorrect. Wiring is related to the electrical aspect, not behavioral components of robots.

Question 57 - multiple choice, shuffle, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Which of the following materials is commonly used in the construction of mobile robots due to its
lightweight properties?

*A: Aluminum

Feedback: Correct! Aluminum is favored for its lightweight and durable properties in mobile robot
construction.

B: Steel

Feedback: Incorrect. Steel is durable but heavier, making it less ideal for mobile robots.

C: Copper

Feedback: Incorrect. Copper is primarily used for electrical components due to its conductivity, not for
structural purposes.

D: Titanium

Feedback: Incorrect. Titanium is strong and lightweight but is more expensive.

Question 58 - multiple choice, shuffle, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

What is a major limitation of actuator technology in mobile robots?

*A: Power consumption

Feedback: Correct! Actuators often consume significant power, which can limit the operational time of
mobile robots.

B: Size constraints

Feedback: Incorrect. Although size can be a concern, it is not the primary limitation.

C: Material cost

Feedback: Incorrect. While material cost is a factor, it is not the primary limitation in actuator technology.
D: Durability

Feedback: Incorrect. Durability is essential, but not the major limitation.

Question 59 - multiple choice, shuffle, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

What is one major advantage of using pneumatic actuators over hydraulic actuators?

*A: They are cleaner and less prone to leakage.

Feedback: Correct! Pneumatic actuators use air, which is cleaner and less prone to leakage compared to
hydraulic fluid.

B: They provide higher force output.

Feedback: Incorrect. Hydraulic actuators are known for higher force output compared to pneumatic
actuators.

C: They have faster response times.

Feedback: Incorrect. Pneumatic actuators do not necessarily have faster response times compared to
hydraulic actuators.

D: They are more energy efficient.

Feedback: Incorrect. Pneumatic actuators are generally less energy efficient compared to hydraulic
actuators.

Question 60 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

What is the term for the type of actuator that operates using liquid fluid power? Please answer in all
lowercase.

*A: hydraulic

Feedback: Correct! Hydraulic actuators operate using liquid fluid power.

*B: hydraulics
Feedback: Correct! Hydraulics is another term referring to hydraulic actuators that operate using liquid
fluid power.

Default Feedback: Incorrect. Check the lesson on actuators to find the type that uses liquid fluid power.

Question 61 - checkbox, shuffle, partial credit, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

A legged robot's design team is evaluating different types of actuators for optimizing energy efficiency.
Which of the following are notable characteristics of electromagnetic actuators?

*A: Operate at high speeds with high bandwidth

Feedback: Correct! Electromagnetic actuators excel at high-speed, high-bandwidth operation.

B: High force-to-weight ratio

Feedback: Incorrect. Electromagnetic actuators do not generally have a high force-to-weight ratio.

*C: Torque amplification through gearboxes

Feedback: Correct! Gearboxes help amplify torque in electromagnetic actuator systems.

D: Low energy consumption at high torque

Feedback: Incorrect. Energy consumption typically scales with torque squared.

Question 62 - multiple choice, shuffle, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

A robotic arm design team is considering different actuators for achieving high specific force. Which type
of actuator is most suitable here?

*A: Hydraulic actuator

Feedback: Correct! Hydraulic actuators provide very high specific force due to their decoupled power
source.

B: Pneumatic actuator

Feedback: Incorrect. While pneumatic actuators can be effective, they do not provide the same level of
specific force due to the compressibility of air.
C: Electromagnetic actuator

Feedback: Incorrect. Electromagnetic actuators are not typically associated with the highest specific
force.

D: Thermal actuator

Feedback: Incorrect. Thermal actuators are not commonly used for applications requiring high specific
force.

Question 63 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Which type of actuator uses compressed air to create mechanical motion? Please answer in all lowercase.

*A: pneumatic

Feedback: Correct! Pneumatic actuators use compressed air to create mechanical motion.

*B: pneumatics

Feedback: Correct! Pneumatics is another term referring to pneumatic actuators that use compressed air to
create mechanical motion.

Default Feedback: Incorrect. Review the types of actuators to find which one uses compressed air to
create mechanical motion.

Question 64 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Select the advantages of 3D printing in terms of complexity and cost.

*A: Ability to produce complex geometries

Feedback: Correct! 3D printing can produce complex geometries that are difficult or impossible with
traditional methods.

*B: Low material waste

Feedback: Correct! 3D printing generally has low material waste compared to subtractive manufacturing
techniques.
C: High initial setup cost

Feedback: Incorrect. 3D printing typically has lower initial setup costs compared to traditional
manufacturing methods.

D: Long production times

Feedback: Incorrect. While 3D printing can sometimes have longer production times for large volumes,
this is not considered an advantage in terms of complexity and cost.

*E: Customizability

Feedback: Correct! 3D printing allows for high levels of customizability, which can be an advantage.

Question 65 - multiple choice, shuffle, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Which manufacturing technique involves the removal of material to create a part?

A: Additive manufacturing

Feedback: Incorrect. Additive manufacturing involves adding material layer by layer.

*B: Subtractive manufacturing

Feedback: Correct! Subtractive manufacturing involves the removal of material to create a part.

C: Injection molding

Feedback: Incorrect. Injection molding involves injecting material into a mold.

D: Thermoforming

Feedback: Incorrect. Thermoforming involves heating a plastic sheet and forming it over a mold.

Question 66 - multiple choice, shuffle, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

You are tasked with selecting a material for a structural component that needs to endure high loads
without failure. Which of the following best describes the stress-strain curve for ductile materials?
A: A steep initial slope followed by a long, flat region

Feedback: This describes the stress-strain curve for brittle materials. Review the course material on the
differences between brittle and ductile materials.

B: A steep initial slope followed by a gradual decline

Feedback: This does not accurately describe the stress-strain curve for ductile materials. Review the
stress-strain curve characteristics for ductile materials.

*C: A steep initial slope followed by a long region of plastic deformation

Feedback: Correct! Ductile materials have a long region of plastic deformation after the initial elastic
region.

D: A constant slope throughout the curve

Feedback: This does not describe the stress-strain curve for ductile materials. Review the characteristics
of the stress-strain curve for ductile materials.

Question 67 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

What type of actuator uses electric current to produce motion? Please answer in all lowercase.

*A: electromagnetic

Feedback: Correct! Electromagnetic actuators use electric current to produce motion.

Default Feedback: Incorrect. Review the types of actuators and their operating principles.

Question 68 - checkbox, shuffle, partial credit, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Which actuator type(s) typically requires a compressor or pump for its operation?

*A: Hydraulic Actuator

Feedback: Correct! Hydraulic actuators require a pump for their operation.

*B: Pneumatic Actuator

Feedback: Correct! Pneumatic actuators require a compressor for their operation.

C: Electromagnetic Actuator

Feedback: Incorrect. Electromagnetic actuators do not require a compressor or pump.

D: Thermal Actuator

Feedback: Incorrect. Thermal actuators do not require a compressor or pump.

Question 69 - multiple choice, shuffle, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Which type of actuator is known for its quick response time and ease of control?

A: Hydraulic Actuator

Feedback: Hydraulic actuators are known for their high force output but not necessarily for quick
response time and ease of control.

*B: Pneumatic Actuator

Feedback: Correct! Pneumatic actuators are indeed known for their quick response time and ease of
control.

C: Electromagnetic Actuator

Feedback: Electromagnetic actuators have good control characteristics but are not as quick in response as
pneumatic actuators.

D: Thermal Actuator

Feedback: Thermal actuators are not typically known for quick response time and ease of control.

Question 70 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Select the characteristics that are commonly associated with hydraulic actuators.

*A: High force output

Feedback: Correct! Hydraulic actuators are known for their high force output.
B: Quick response time

Feedback: Incorrect. Hydraulic actuators are generally slower in response compared to pneumatic
actuators.

*C: Incompressible Fluid

Feedback: Correct! Hydraulic actuators cannot hold compressible fluid.

D: Compact size

Feedback: Incorrect. Hydraulic actuators are not typically known for their compact size.

E: Quiet operation

Feedback: Incorrect. Hydraulic actuators can be noisy during operation.

Question 71 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Select the advantages of using brushless DC motors as actuators in mobile robots.

*A: High efficiency

Feedback: Correct! Brushless DC motors are known for their high efficiency.

*C: Low maintenance

Feedback: Correct! Brushless DC motors require less maintenance compared to brushed motors.

D: High noise levels

Feedback: Incorrect. Brushless DC motors are actually known for their low noise levels.

E: Heavy weight

Feedback: Incorrect. Brushless DC motors are generally lightweight.

Question 72 - multiple choice, shuffle, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Which of the following techniques is an additive manufacturing process?

*A: Fused Deposition Modeling (FDM)

Feedback: Correct! Fused Deposition Modeling is an additive manufacturing process.

B: Milling

Feedback: Incorrect. Milling is a subtractive manufacturing process.

C: Turning

Feedback: Incorrect. Turning is a subtractive manufacturing process.

D: Drilling

Feedback: Incorrect. Drilling is a subtractive manufacturing process.

Question 73 - multiple choice, shuffle, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Which of the following best describes the stress-strain curve for ductile materials?

*A: A linear region followed by a significant plastic deformation region before fracture

Feedback: Correct! Ductile materials show a clear yield point followed by significant plastic deformation
before fracturing.

B: A linear region followed by immediate fracture

Feedback: Incorrect. This behavior is characteristic of brittle materials.

C: No clear yield point and immediate fracture

Feedback: Incorrect. This is not typical behavior for ductile materials.

D: A nonlinear region followed by a sharp decrease in stress

Feedback: Incorrect. Ductile materials don't have a nonlinear region.

Question 74 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

What is the term used to describe the ratio of stress to strain in the linear region of the stress-strain curve?
Please answer in all lowercase.
*A: youngsmodulus

Feedback: Correct! The term is Young's modulus.

*B: young’s modulus

Feedback: Correct! The term is Young's modulus.

*C: modulusofelasticity

Feedback: Correct! The term is also known as modulus of elasticity.

*D: modulus of elasticity

Feedback: Correct! The term is also known as modulus of elasticity.

Default Feedback: Incorrect. The term describes the ratio of stress to strain in the linear region of the
stress-strain curve.

Question 75 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Which of the following are advantages of 3D printing in terms of complexity and cost?

*A: Ability to create complex geometries

Feedback: Correct! 3D printing allows for the creation of complex geometries that are difficult to achieve
with traditional methods.

*B: Low material waste

Feedback: Correct! 3D printing generally produces less material waste compared to subtractive
manufacturing techniques.

C: High cost for low production runs

Feedback: Incorrect. 3D printing is often cost-effective for low production runs.

D: Limited to specific materials

Feedback: Incorrect. 3D printing can use a wide range of materials.

Question 76 - checkbox, shuffle, partial credit

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Walking like a rimless wheel

Select the control strategies used to regulate forward speed in legged robots.

*A: Adjusting leg stiffness

Feedback: Correct! Adjusting leg stiffness is a key strategy for controlling forward speed.

B: Varying ground friction

Feedback: Incorrect. Ground friction is not typically varied to control speed.

*C: Changing leg touchdown angle

Feedback: Correct! Changing the leg touchdown angle helps in regulating forward speed.

*D: Modifying body posture

Feedback: Correct! Modifying body posture is crucial for maintaining and regulating speed.

E: Altering air resistance

Feedback: Incorrect. Air resistance is not a primary factor in controlling forward speed for legged robots.

Question 77 - multiple choice, shuffle, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

Why is the Lateral Leg Spring (LLS) model significant in robotic locomotion?

*A: It helps in understanding lateral stability during running.

Feedback: Correct! The LLS model is essential for studying and enhancing lateral stability in running
robots.

B: It is used to design the leg structure of robots.

Feedback: Incorrect. The LLS model is less focused on physical design of legs.

C: It aids in energy conservation during hopping.

Feedback: Incorrect. Energy conservation during hopping is more related to the SLIP model.

D: It is essential for vertical jumping control.

Feedback: Incorrect. Vertical jumping control is not the primary focus of the LLS model.
Question 78 - multiple choice, shuffle, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

A team of roboticists is working on designing a high-performance robot that captures the dynamics of
running. Which of the following models should they primarily consider?

*A: Spring Loaded Inverted Pendulum (SLIP) model

Feedback: Correct! The SLIP model is widely used for designing running robots due to its efficiency in
mimicking the dynamics of running.

B: Inverted Pendulum model

Feedback: Incorrect. The Inverted Pendulum model is used for balance, not specifically for running.

C: Double Support Phase model

Feedback: Incorrect. The Double Support Phase model relates to walking, not running.

D: Lateral Leg Spring (LLS) model

Feedback: Incorrect. While the LLS model is used for running, it is not commonly referenced.

Question 79 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Walking like a rimless wheel

What is the term for the simplified models that aid in understanding and controlling the dynamics of
legged robots? Please answer in all lowercase.

*A: template

Feedback: Correct! Template models are simplified representations that help in understanding the
dynamics of legged robots.

*B: template models

Feedback: Correct! Template models are simplified representations that help in understanding the
dynamics of legged robots.

Default Feedback: Incorrect. Please review the concept of simplified models used in legged robotics.

Answer: templates
Feedback: Correct! Template models are simplified representations that help in understanding the
dynamics of legged robots.

Question 80 - multiple choice, shuffle, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Design: figures of merit, robustness

Which of the following best explains the concept of anisotropic materials?

A: Materials that have the same properties in all directions.

Feedback: This describes isotropic materials, not anisotropic materials.

*B: Materials that have different properties in different directions.

Feedback: Correct! Anisotropic materials have different properties depending on the direction of the
applied load.

C: Materials that cannot withstand any load.

Feedback: This is incorrect. Anisotropic materials can withstand loads.

D: Materials that have uniform stress distribution.

Feedback: This is incorrect. Anisotropic materials do not have uniform stress distribution.

Question 81 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Select the components used in assembly processes.

*A: Finger joints

Feedback: Correct! Finger joints are used in assembly processes for joining components.

*B: Square nuts

Feedback: Correct! Square nuts are also used in assembly processes.

*C: Standoffs

Feedback: Correct! Standoffs are used to create space between components in assembly processes.

D: Glue sticks
Feedback: Incorrect. Glue sticks are not commonly used in assembly processes.

E: Rubber bands

Feedback: Incorrect. Rubber bands are not used in assembly processes involving the components
mentioned.

Question 82 - checkbox, shuffle, partial credit, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Select the types of actuators that require a power source to operate.

*A: Hydraulic actuators

Feedback: Correct! Hydraulic actuators require a power source to operate a pump.

*B: Pneumatic actuators

Feedback: Correct! Pneumatic actuators need a power source to run a compressor.

*C: Electromagnetic actuators

Feedback: Correct! Electromagnetic actuators operate using electrical power.

D: Manual actuators

Feedback: Incorrect. Manual actuators do not require a power source; they are operated by hand.

Question 83 - multiple choice, shuffle, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Which of the following is a disadvantage of using hydraulic actuators?

*A: Hydraulic actuators are prone to leakage.

Feedback: Correct! Hydraulic actuators can leak, which is a significant disadvantage in many
applications.

B: Hydraulic actuators have a slow response time.

Feedback: Incorrect. Slow response time is not typically associated with hydraulic actuators; they usually
have a fast response time.
C: Hydraulic actuators are difficult to control.

Feedback: Incorrect. Hydraulic actuators are generally known for their precise control.

D: Hydraulic actuators are lightweight.

Feedback: Incorrect. Hydraulic actuators are usually heavy compared to other types of actuators.

Question 84 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Walking like a rimless wheel

What term describes the reduced order models that are essential in controlling legged robots? Please
answer in all lowercase.

*A: templates

Feedback: Correct! These reduced order models are known as templates.

*B: template

Feedback: Correct! These reduced order models are known as templates.

Default Feedback: Incorrect. Please refer to the course material on reduced order models for legged
robots.

Question 85 - checkbox, shuffle, partial credit, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

Select the models used in designing efficient running robots.

*A: Spring Loaded Inverted Pendulum (SLIP)

Feedback: Correct! The SLIP model is widely used in designing efficient running robots.

*B: Lateral Leg Spring (LLS)

Feedback: Correct! The LLS model is also used in the design of running robots.

C: Bipedal Walking Model

Feedback: Incorrect. The Bipedal Walking Model is more relevant for walking, not running.

D: Quadcopter Model

Feedback: Incorrect. The Quadcopter Model is related to aerial vehicles, not legged robots.

E: Cyclic Gait Model

Feedback: Incorrect. The Cyclic Gait Model is related to walking and not specifically to running.

Question 86 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Walking like a rimless wheel

Identify the term used to describe the predefined structures or patterns in mobile robot design. Please
answer in all lowercase.

*A: templates

Feedback: Correct! Templates are used to describe predefined structures or patterns in mobile robot
design.

Default Feedback: Incorrect. This is not the right term.

Question 87 - checkbox, shuffle, partial credit, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Legged Mobility: dynamic motion and the management of energy

Select the limitations of actuator technology in mobile robots:

*A: Limited range of motion

Feedback: Correct! Actuators often have a limited range of motion which can restrict the robot's
capabilities.

*B: High energy consumption

Feedback: Correct! Actuators can consume a lot of energy, which can be a limitation for mobile robots.

C: Inability to function in vacuum

Feedback: Incorrect. While some actuators may not function in a vacuum, this is not a general limitation
of actuator technology for mobile robots.

D: High cost
Feedback: Incorrect. High cost can be a factor, but it is not a limitation of the actuator technology itself.

Question 88 - multiple choice, shuffle, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Actuator technologies

Which of the following is an advantage of using hydraulic actuators in robotics?

*A: High force output

Feedback: Correct! Hydraulic actuators are known for their high force output, which makes them suitable
for heavy-duty applications.

B: Low maintenance

Feedback: Incorrect. Hydraulic actuators typically require regular maintenance due to the use of fluids
and seals.

C: Energy efficiency

Feedback: Incorrect. Hydraulic systems are generally less energy efficient compared to other types of
actuators.

D: Compact size

Feedback: Incorrect. Hydraulic actuators tend to be larger and bulkier compared to other actuation
technologies.

Question 89 - multiple choice, shuffle, medium

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Materials, manufacturing, and assembly

Describe the stress-strain curve for brittle materials.

A: Brittle materials show a high amount of strain before fracture.

Feedback: Incorrect. Brittle materials actually show very little strain before fracture.

*B: Brittle materials have a steep stress-strain curve up to the point of fracture.

Feedback: Correct! Brittle materials typically have a steep curve and fracture at relatively low strain.
C: The stress-strain curve for brittle materials is very linear and shows much plastic deformation.

Feedback: Incorrect. Brittle materials do not show much plastic deformation.

D: Brittle materials exhibit a yield point before ultimate failure.

Feedback: Incorrect. Brittle materials typically do not exhibit a yield point.

Question 90 - text match, easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Design: figures of merit, robustness

What term describes materials that have different properties in different directions? Please answer in all
lowercase.

*A: anisotropic

Feedback: Correct! Anisotropic materials have different properties in different directions.

Default Feedback: Incorrect. The term you are looking for describes materials with direction-dependent
properties.

Question 91 - checkbox, shuffle, partial credit, difficult

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

Which of the following are important aspects of the Spring Loaded Inverted Pendulum (SLIP) model in
robotic locomotion?

*A: Energy Efficiency

Feedback: Correct! Energy efficiency is a critical aspect of the SLIP model.

*B: Dynamic Stability

Feedback: Correct! Dynamic stability is also a significant aspect of the SLIP model.

C: Increased Payload Capacity

Feedback: Incorrect. Increased payload capacity is not a primary concern of the SLIP model.

*D: Simplified Control Algorithms

Feedback: Correct! Simplified control algorithms are one of the key features of the SLIP model.

E: Enhanced Aesthetic Design

Feedback: Incorrect. Aesthetic design is not a consideration in the SLIP model.

Question 92 - multiple choice, shuffle, Easy

Question category: Module: Behavioral (Templates) & Physical (Bodies)

Learning objective: Running like a spring-loaded pendulum

Which model is commonly used for designing efficient running robots?

*A: Spring Loaded Inverted Pendulum (SLIP)

Feedback: Correct! The Spring Loaded Inverted Pendulum (SLIP) model is widely used in designing
efficient running robots due to its ability to capture the essential dynamics of running.

B: Double Inverted Pendulum

Feedback: Not quite. The Double Inverted Pendulum is more commonly used in the study of balance and
walking, not running.

C: Robotic Inverted Pendulum (RIP)

Feedback: Incorrect. The Robotic Inverted Pendulum (RIP) is not a standard model used for running
robots.

D: Triple Pendulum Model

Feedback: No, the Triple Pendulum Model is not typically used for designing running robots.

Question 93 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

What term is used for the movement capability of a robot in various directions? Please answer in all
lowercase.

*A: mobility

Feedback: Correct! Mobility refers to the movement capability of a robot in various directions.

Default Feedback: Incorrect. This is not the right term.

Question 94 - checkbox, shuffle, partial credit, easy

Question category: Module: Composition (Programming Work)

Learning objective: Clocked RHex gaits

Which of the following are components commonly found in mobile robots?

*A: Actuators

Feedback: Correct! Actuators are commonly found in mobile robots and are responsible for movement.

B: Solar panels

Feedback: Incorrect. Solar panels are not commonly found in mobile robots.

*C: Sensors

Feedback: Correct! Sensors are used for perception and navigation in mobile robots.

D: Propellers

Feedback: Incorrect. Propellers are typically found in aerial robots, not mobile robots.

*E: Control systems

Feedback: Correct! Control systems play a crucial role in managing robot functions and actions.

Question 95 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

Which of the following describes a characteristic of leaping behavior in robotics?

*A: Rapid changes in the energy

Feedback: Correct! Leaping behaviors in robotics involve the rapid changes in energy to achieve a leap.

B: Slow and continuous movement of all joints

Feedback: Incorrect. Leaping typically involves rapid, not slow, movements.

C: Constant velocity throughout the motion

Feedback: Incorrect. Leaping usually involves changes in velocity, especially rapid acceleration.
D: Maintaining contact with the ground at all times

Feedback: Incorrect. Leaping requires leaving the ground, not maintaining contact.

Question 96 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: Why and how do animals move?

What is the term used for the force exerted by the ground on a leaping robot? Please answer in all
lowercase.

*A: groundreactionforce

Feedback: Correct! The term used is ground reaction force.

*B: grf

Feedback: Correct! The abbreviation GRF stands for ground reaction force.

Default Feedback: Incorrect. Review the terminology related to forces in leaping behaviors.

Question 97 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

Which of the following are challenges in analyzing leaping behaviors in robotics?

*A: Handling transitional behaviors in hybrid systems

Feedback: Correct! Transitional behaviors involve complex changes in dynamics that are challenging to
analyze.

*B: Managing variability in initial conditions

Feedback: Correct! Variability in initial conditions, such as leg touchdown timing, affects leaping
dynamics.

*C: Ensuring convergence during impacts

Feedback: Correct! Convergent impacts are crucial to maintain stability and are a significant challenge.

D: Maintaining continuous ground contact

Feedback: Incorrect. Leaping inherently involves airborne phases, so continuous ground contact is
irrelevant.

E: Controlling absolute jump height

Feedback: Incorrect. It emphasizes hybrid transitions and energy dynamics, not controlling absolute jump
height.

Question 98 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: Why and how do animals move?

What is the primary purpose of using the ground reaction force in analyzing leaping behaviors?

*A: To measure the force exerted by the ground during a leap

Feedback: Correct! The ground reaction force measures the force exerted by the ground during a leap.

B: To ensure the robot maintains balance

Feedback: Incorrect. While important, balance is not the primary purpose of measuring the ground
reaction force.

C: To control the robot's speed during the leap

Feedback: Incorrect. Speed control is not directly related to the ground reaction force.

D: To monitor the robot's energy consumption

Feedback: Incorrect. Energy consumption is not the primary focus of measuring ground reaction force.

Question 99 - text match, medium

Question category: Module: Composition (Programming Work)

Learning objective: Linearization & Normal Forms

For a linear system described by \( \dot{x} = Ax \), if \( A \) has eigenvalues with negative real parts, will
the system be considered as stable?

*A: yes

Feedback: Correct! The system is stable if all eigenvalues of matrix \( A \) have negative real parts.
Default Feedback: Incorrect. Review the conditions for stability based on eigenvalues in the course
material.

Question 100 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

In the context of dynamical systems, what does the term 'equilibrium point' mean?

*A: A point where the system remains at rest

Feedback: Correct! An equilibrium point is a point where the system remains at rest if it starts there.

B: A point where the system moves fastest

Feedback: Incorrect. An equilibrium point is not related to the speed of the system.

C: A point where the system changes direction

Feedback: Not quite. An equilibrium point does not necessarily involve a change in direction.

D: A point where the system's energy is maximum

Feedback: Incorrect. An equilibrium point is not defined by the system's energy.

Question 101 - multiple choice, shuffle, easy

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

Which template is related to the dynamics of SLIP?

*A: Vertical hopper

Feedback: Correct! The vertical hopper template is related to the dynamics of SLIP.

B: Double pendulum

Feedback: Incorrect. The double pendulum is not related to the dynamics of SLIP.

C: Inverted pendulum
Feedback: Incorrect. The inverted pendulum is not related to the dynamics of SLIP.

D: Rimless wheel

Feedback: Incorrect. Although the rimless wheel is a template, it is not related to the dynamics of SLIP.

Question 102 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

What is the verification step in the analysis of parallel composition in SLIP called? Please answer in all
lowercase.

*A: anchoring

Feedback: Correct! The verification step in the analysis of parallel composition in SLIP is called
anchoring.

Default Feedback: Incorrect. Please review the verification step in the analysis of parallel composition in
SLIP.

Question 103 - multiple choice, shuffle, easy

Question category: Module: Composition (Programming Work)

Learning objective: RHex: A Simple & Highly Mobile Biologically Inspired Hexapod Runner

What does SLIP stand for in robotics?

*A: Spring-Loaded Inverted Pendulum

Feedback: Correct! SLIP stands for Spring-Loaded Inverted Pendulum in robotics.

B: Spring-Laden Inverted Pendulum

Feedback: Incorrect. SLIP stands for Spring-Loaded Inverted Pendulum, not Spring-Laden Inverted
Pendulum.

C: Spring-Loaded Integrated Pendulum

Feedback: Incorrect. SLIP stands for Spring-Loaded Inverted Pendulum, not Spring-Loaded Integrated
Pendulum.

D: Spring-Laden Integrated Pendulum

Feedback: Incorrect. SLIP stands for Spring-Loaded Inverted Pendulum, not Spring-Laden Integrated
Pendulum.

Question 104 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

Which of the following are challenges in proving the exact anchoring of SLIP?

*A: Complexity of dynamics

Feedback: Correct! The complexity of dynamics is a challenge in proving the exact anchoring of SLIP.

*B: Limited computational resources

Feedback: Correct! Limited computational resources are a challenge in proving the exact anchoring of
SLIP.

C: Simplified models

Feedback: Incorrect. Simplified models are not a challenge in proving the exact anchoring of SLIP.

D: Experimental validation

Feedback: Incorrect. Experimental validation itself is not a challenge but an essential part of the process.

Question 105 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

In dynamical systems, what term is used to describe a function that describes the time dependence of a
point in a geometrical space? Please answer in all lowercase.

*A: trajectory

Feedback: Correct! A trajectory describes the time dependence of a point in a geometrical space.

Default Feedback: Incorrect. Review the course materials on the term used for the time dependence of a
point in a geometrical space.

Question 106 - multiple choice, shuffle, difficult

Question category: Module: Composition (Programming Work)

Learning objective: Sequential and Parallel Composition

In a robot juggling system, where two balls are controlled to avoid falling simultaneously, obstacles are
introduced into a space. What is meant by the term 'state space' in this context?

*A: A mathematical space representing all possible states of a system

Feedback: Correct! The state space is indeed a mathematical space representing all possible states of a
system.

B: The physical space occupied by a robot

Feedback: Not quite. The state space refers to the mathematical space of possible states, not the physical
space.

C: The space of all possible control inputs

Feedback: Incorrect. The state space is about the system's states, not control inputs.

D: The environment in which a robot operates

Feedback: No, the state space is different from the robot's operating environment.

Question 107 - checkbox, shuffle, partial credit, difficult

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

Select all the elements that are typically analyzed when studying the leaping behavior of a robot.

*A: Initial launch angle

Feedback: Correct! The initial launch angle is a key element in leaping behavior analysis.

B: Surface color

Feedback: Incorrect. Surface color is not typically analyzed in leaping behavior.

*C: Ground reaction force

Feedback: Correct! Ground reaction force is an essential element in analyzing leaping behavior.

E: Battery temperature

Feedback: Incorrect. Battery temperature is not a typical element analyzed in leaping behavior.
Question 108 - multiple choice, shuffle, easy

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

What is the primary factor that influences the distance a robot can leap?

*A: Initial velocity

Feedback: Correct! Initial velocity is a crucial factor in determining the leaping distance of a robot.

B: Robot's color

Feedback: Incorrect. The color of the robot does not influence its leaping distance.

C: Battery type

Feedback: Incorrect. While important for overall functionality, the battery type does not directly influence
leaping distance.

D: Surface texture

Feedback: Incorrect. Surface texture can affect grip but is not the primary factor in leaping distance.

Question 109 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: Why and how do animals move?

Which of the following best explains why analyzing ground reaction force is important in studying
leaping behaviors?

*A: It helps in understanding the energy transfer during the leap.

Feedback: Correct! Analyzing ground reaction force is crucial for understanding the energy transfer
during the leap.

B: It determines the robot's color changes.

Feedback: Incorrect. Ground reaction force does not affect the robot's color.

C: It measures the battery efficiency.

Feedback: Incorrect. Battery efficiency is not directly measured by ground reaction force.

D: It affects the robot's sound output.

Feedback: Incorrect. Ground reaction force does not have a direct impact on the robot's sound output.

Question 110 - multiple choice, shuffle

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

What is the primary function of the IMU (Inertial Measurement Unit) in a robot?

*A: To measure linear and angular motion

Feedback: Correct! The IMU is primarily used to measure linear and angular motion.

B: To detect obstacles in the robot's path

Feedback: Incorrect. Obstacle detection is usually done by sensors like LIDAR or ultrasonic sensors.

C: To control the speed of the robot

Feedback: Incorrect. Speed control is typically managed by the motor controller and software algorithms.

D: To process visual information

Feedback: Incorrect. Processing visual information is usually handled by cameras and vision processing
algorithms.

Question 111 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

Which of the following are advantages of using wheels for robot mobility?

*A: High energy efficiency

Feedback: Correct! Wheels are known for their high energy efficiency.

B: Ability to traverse rough terrain easily

Feedback: Incorrect. Tracks or legs are typically better at handling rough terrain.

*C: Simple mechanical design

Feedback: Correct! Wheels typically have a simpler mechanical design.

D: Omnidirectional movement

Feedback: Incorrect. While some wheels like omni-wheels can provide this, it is not a general advantage
of all wheels.

Question 112 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

What is one of the primary challenges of verifying parallel composition in SLIP dynamics?

*A: Complexity of anchoring dynamics

Feedback: Correct! One of the primary challenges is proving that the SLIP dynamics exactly anchor with
the vertical hopper.

B: Lack of computational tools

Feedback: Incorrect. While computational tools are important, they are not the primary challenge in this
context.

C: Insufficient data on SLIP models

Feedback: Incorrect. The challenge is more about the complexity of interaction effects than the lack of
data.

D: High cost of experiments

Feedback: Incorrect. The high cost of experiments is not the primary challenge in verifying parallel
composition in SLIP dynamics.

Question 113 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

Which of the following best explains the relationship between SLIP dynamics and the vertical hopper
template?

*A: SLIP dynamics model the vertical hopper's bouncing motion.

Feedback: Correct! The SLIP dynamics are used to model the vertical hopper's bouncing motion,
capturing its essential behavior.

B: SLIP dynamics focus solely on horizontal motion.

Feedback: Incorrect. SLIP dynamics do not focus solely on horizontal motion.

C: The vertical hopper template is unrelated to SLIP dynamics.

Feedback: Incorrect. The vertical hopper template is closely related to SLIP dynamics, which help in
modeling its behavior.

D: SLIP dynamics only apply to wheeled robots.

Feedback: Incorrect. SLIP dynamics are not limited to wheeled robots.

Question 114 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

What term is used to describe the process of checking if SLIP dynamics are correct when combined in
parallel? Provide your answer in all lowercase.

*A: verification

Feedback: Correct! Verification is the process used to check if SLIP dynamics are correct when combined
in parallel.

Default Feedback: Incorrect. Review the terminology used for the process of checking SLIP dynamics in
parallel composition.

Question 115- checkbox, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

Which component of a leaping robot primarily affects the height of the leap?

*A: Leg actuator strength

Feedback: Correct! The strength of the leg actuators is a key factor in determining the height of a robot's
leap.

B: Arm length

Feedback: Incorrect. While arm movements can assist in balance, they do not primarily affect the height
of the leap.

C: Sensor accuracy
Feedback: Incorrect. Sensor accuracy is important for navigation and control, but it does not directly
impact the height of the leap.

*D: Body mass

Feedback: Incorrect. While body mass can influence the dynamics of the leap, it is not the primary
component affecting the height.

Question 116 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

Identify which of the following factors are crucial in analyzing leaping behaviors in robotics.

*A: Timing of leg impact

Feedback: Correct! The timing of leg impact is essential for stable leaping.

*B: Color of the robot

Feedback: Incorrect. The color of the robot does not affect its leaping behavior.

*C: Leg coordination

Feedback: Correct! Coordinating leg movements directly influences leaping performance so it is crucial.

*D: Battery life

Feedback: Incorrect. Battery life is important for the overall functioning of the robot but is not a direct
factor in leaping behaviors.

Question 117 - text match, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

In analyzing the energy dynamics of a robotic system, you notice that its energy changes very slowly over
time during specific movements. What term is used to describe this behavior? Please answer in all
lowercase.

*A: steady state

Feedback: Correct! A steady state is where the system's response becomes consistent over time.

*B: steadystate

Feedback: Correct! A steady state is where the system's response becomes consistent over time.
*C: equilibrium

Feedback: Correct! equilibrium refers to the state where responses become constant.

Default Feedback: Incorrect. Think about the term that describes the system's response settling into a
consistent pattern over time.

Question 118 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: Review LTI Mechanical Dynamical Systems

Which of the following are true about the phase portrait of a linear system with complex eigenvalues?

*A: It exhibits oscillatory behavior.

Feedback: Correct! Complex eigenvalues indicate the presence of oscillations in the system's response.

*B: The trajectories spiral towards or away from the origin.

Feedback: Correct! Depending on the sign of the real part, the trajectories will spiral towards (negative
real part) or away from (positive real part) the origin.

C: The system's equilibrium point is always unstable.

Feedback: Incorrect. The stability of the equilibrium point depends on the real part of the eigenvalues.

D: It shows straight-line trajectories.

Feedback: Incorrect. Straight-line trajectories are typical of systems with real eigenvalues, not complex
eigenvalues.

E: The trajectories form closed loops.

Feedback: Incorrect. Closed loops would indicate pure imaginary eigenvalues with no real part, which is
not always the case for complex eigenvalues.

Question 119 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

Which of the following best describes the relationship between SLIP and the vertical hopper template?

*A: SLIP is a simplified model of the vertical hopper for studying legged locomotion.
Feedback: Correct! SLIP simplifies the vertical hopper model to make the analysis of legged locomotion
more tractable.

B: SLIP and the vertical hopper template are unrelated models in robotics.

Feedback: Incorrect. SLIP and the vertical hopper template are indeed related.

C: SLIP is a type of vertical hopper specifically designed for robots with wheels.

Feedback: Incorrect. SLIP is not specifically designed for robots with wheels.

D: SLIP is a more complex version of the vertical hopper template incorporating additional dynamics.

Feedback: Incorrect. SLIP is not a complex version of the vertical hopper template.

Question 120 - checkbox, shuffle, partial credit, easy

Question category: Module: Composition (Programming Work)

Learning objective: Clocked RHex gaits

Select all components that are essential for the mobility of a robot.

*A: Actuator

Feedback: Correct! Actuators are essential for robot mobility.

*B: Sensor

Feedback: Correct! Sensors are essential for feedback and navigation.

*C: Battery

Feedback: Correct! Batteries are essential for providing power to the robot.

D: Resistor

Feedback: Incorrect. Resistors are used to limit current but are not essential for mobility.

E: Diode

Feedback: Incorrect. Diodes are used to control the direction of current but are not essential for mobility.

Question 121 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: Transitions: RHex, Jerboa, and Minitaur leaping

Which of the following are challenges in analyzing leaping behaviors?

*A: Measuring the rapid changes in force during takeoff and landing.

Feedback: Correct! Measuring these rapid changes is indeed challenging.

*B: Isolating the effect of each limb's movement.

Feedback: Correct! This is another significant challenge in the analysis of leaping behaviors.

C: Accounting for the influence of environmental factors such as wind.

Feedback: Incorrect. While environmental factors may have some impact, they are not a primary
challenge in analyzing leaping behaviors.

*D: Tracking the precise trajectory of the leap in three-dimensional space.

Feedback: Correct! Tracking the trajectory accurately is a key challenge in this analysis.

E: Simulating the mental state of the leaping subject.

Feedback: Incorrect. The mental state is not typically a focus in the physical analysis of leaping
behaviors.

Question 122 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: Why and how do animals move?

What term is used to describe the force exerted by the ground on a body during a leap? Please answer in
all lowercase.

*A: groundreactionforce

Feedback: Correct! The term used is 'ground reaction force'.

*B: groundforce

Feedback: Correct! The term used is 'ground reaction force'.

*C: reactionforce

Feedback: Correct! The term used is 'ground reaction force'.

Default Feedback: Incorrect. Please review the concept of ground reaction force during leaping behaviors.
Question 123 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

How does SLIP relate to the vertical hopper and rimless wheel templates in terms of dynamics?

*A: SLIP simplifies the dynamics by reducing control complexity.

Feedback: Correct! SLIP simplifies the dynamics by reducing control complexity, making it easier to
analyze and control the system.

B: SLIP increases the dynamic complexity by adding more control parameters.

Feedback: Not quite. SLIP actually simplifies the dynamics rather than increasing complexity. Review the
relationship between SLIP and these templates.

C: SLIP removes the need for any control in the system.

Feedback: Incorrect. SLIP does not eliminate the need for control; it simplifies the dynamics while still
requiring some control.

D: SLIP only applies to the vertical hopper and not to the rimless wheel.

Feedback: Incorrect. SLIP applies to both the vertical hopper and the rimless wheel in terms of
simplifying dynamics.

Question 124 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: SLIP as a parallel vertical hopper and rimless wheel

What step is crucial in the analysis of parallel composition in SLIP? Please answer in all lowercase.

*A: verification

Feedback: Correct! Verification is the crucial step in the analysis of parallel composition in SLIP.

Default Feedback: Incorrect. The crucial step in the analysis of parallel composition in SLIP is
verification. Review the course material on this topic.

Question 125 - text match, easy

Question category: Module: Composition (Programming Work)

Learning objective: Same composition, different bodies

What term is used to describe a system that can maintain its state in the presence of disturbances? Please
answer in all lowercase.

*A: stability

Feedback: Correct! Stability is the term used to describe this property of a system.

Default Feedback: Keep trying! This term is crucial for understanding the behavior of dynamical systems
in robotics.

Question 126 - multiple choice, shuffle, medium

Question category: Module: Composition (Programming Work)

Learning objective: Why is parallel, hard?

In the context of dynamical composition in robotics, which concept refers to the combination of simpler
systems to form a more complex system?

A: Superposition

Feedback: Superposition usually refers to the principle where two or more physical quantities add up to
form a resultant quantity. It is not specific to combining simpler systems in robotics.

B: Modularity

Feedback: Modularity refers to the design principle that breaks a system into smaller parts or modules.
While related, it is not the term that describes the combination of simpler systems to form a complex one.

C: Dynamical Systems Theory

Feedback: Dynamical Systems Theory is a framework to study systems that change over time, but it does
not specifically describe the combination of simpler systems to form a complex system.

*D: Composition

Feedback: Correct! In robotics, composition refers to combining simpler systems to form a more complex
system.

Question 127 - checkbox, shuffle, partial credit, medium

Question category: Module: Composition (Programming Work)

Learning objective: Why and how do animals move?

Which of the following are principles of dynamical composition in robotics?

*A: Hierarchy

Feedback: Correct! Hierarchy is a principle where systems or subsystems are organized in a multi-level
structure.

*B: Feedback Loops

Feedback: Correct! Feedback loops are crucial for dynamic systems as they help in maintaining stability
and adaptability.

C: Randomness

Feedback: Randomness is not a principle of dynamical composition in robotics. It generally refers to

unpredictable variations.

*D: Stability

Feedback: Correct! Stability is essential for ensuring that the composed system performs reliably over
time.

E: Redundancy

Feedback: Redundancy, although useful in system design for fault tolerance, is not a core principle of
dynamical composition.

F: Autonomy

Feedback: Autonomy refers to the ability of a system to operate independently, but it is not a principle of
dynamical composition.

Question 128 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

What is the term for the process through which species adapt over generations to their environments?
Please answer in all lowercase.

*A: evolution

Feedback: Correct! Evolution is the process by which species adapt over time.

*B: naturalselection
Feedback: Correct! Natural selection is a mechanism of evolution.

*C: natural selection

Feedback: Correct! Natural selection is a mechanism of evolution.

Default Feedback: Incorrect. Please review the concepts of evolution and natural selection.

Question 129 - checkbox, shuffle, partial credit, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

Which of the following factors contribute to the superior mobility of animals?

*A: Evolutionary adaptation

Feedback: Correct! Evolutionary adaptation has allowed animals to develop efficient mobility strategies
over time.

*B: Cognitive abilities

Feedback: Correct! Cognitive abilities play a significant role in the complex mobility of animals.

C: Mechanical precision

Feedback: Incorrect. While important for machines, mechanical precision is not the primary factor for
animal mobility.

*D: Sensory feedback systems

Feedback: Correct! Sensory feedback systems help animals navigate and adapt to their environments
effectively.

Question 130 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

How does the connection between mobility and intelligence manifest in animals?

*A: Animals with better mobility often have more developed brains.

Feedback: Correct! There is a correlation between better mobility and more developed brains in animals.

B: Animals with better mobility have simpler brains.

Feedback: Incorrect. Animals with better mobility usually have more complex brains.

C: Mobility and intelligence are not related in animals.

Feedback: Incorrect. There is a significant connection between mobility and intelligence in animals.

D: Animals prioritize mobility over intelligence.

Feedback: Incorrect. Both mobility and intelligence are crucial for survival and are often interconnected.

Question 131 - numeric, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

How many years ago (in millions) did the first signs of animal mobility appear in the evolutionary
timeline?

*A: 550.0

Feedback: Correct! The first signs of animal mobility appeared around 550 million years ago.

Default Feedback: Incorrect. Consider reviewing the timeline of evolutionary milestones.

Question 132 - multiple choice, shuffle, difficult

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

Why do animals generally have superior mobility compared to machines?

*A: Animals have evolved to adapt to different environments.

Feedback: Correct! Evolution has allowed animals to adapt their mobility to diverse environments.

B: Animals have artificial intelligence guiding their movements.

Feedback: Incorrect. Animals do not have artificial intelligence; they rely on natural intelligence and
instincts.

C: Machines lack the necessary materials to replicate animal mobility.

Feedback: Incorrect. The limitation is not in materials but in the complexity of animal mobility.

D: Machines are not as old as animals.

Feedback: Incorrect. The age of machines is not the reason for the difference in mobility.

Question 133 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

Which of the following best describes the role of energy in the analysis of nonlinear dynamical systems?

*A: Energy helps to determine the stability of equilibrium points.

Feedback: Correct! Energy analysis is crucial in understanding the stability of equilibrium points in
nonlinear dynamical systems.

B: Energy is used to measure the velocity of robotic components.

Feedback: Incorrect. While energy can be related to velocity, it is not its primary role in the analysis of
nonlinear dynamical systems.

C: Energy determines the mass of the system.

Feedback: Incorrect. Energy does not determine the mass of the system.

D: Energy is not relevant in the analysis of nonlinear dynamical systems.

Feedback: Incorrect. Energy is indeed relevant in the analysis of nonlinear dynamical systems.

Question 134 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

What type of differential equations is essential in studying mobility in robotics? Please answer in all
lowercase.

*A: nonlinear

Feedback: Correct! Nonlinear differential equations are essential in the study of mobility in robotics.

*B: non linear

Feedback: Correct! Nonlinear differential equations are essential in the study of mobility in robotics.
Default Feedback: Incorrect. Reflect on the nature of mobility in robotic systems and the types of
equations used.

Question 135 - numeric, medium

Question category: Module: Introduction: Review LTI Mechanical Dynamical Systems

Learning objective: Review LTI Mechanical Dynamical Systems

Consider a scenario where a robot's limb needs to move from point A to point B in a straight line. If the
initial velocity is 2 m/s and it accelerates at a constant rate of 0.5 m/s², how long will it take to reach a
velocity of 5 m/s?

*A: 6.0

Feedback: Correct! You calculated the time required to reach the desired velocity accurately.

Default Feedback: Incorrect. Revisit the section referring to Newton’s laws.

Question 136 - text match, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

What is the term for the study of forces and their effects on motion in limb movement? Please answer in
all lowercase.

*A: dynamics

Feedback: Correct! Dynamics is the study of forces and their effects on motion.

Default Feedback: Incorrect. The correct term is related to the study of forces and their effects on motion.

Question 137 - multiple choice, shuffle, difficult

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

Why are animals important in the study of limb mobility?

*A: They provide examples of complex limb structures.

Feedback: Correct! Animals provide diverse and complex examples of limb structures that are essential
for understanding limb mobility.
B: They help in studying human behavior.

Feedback: Incorrect. While animals can provide some insights into human behavior, this is not the
primary reason they are important in studying limb mobility.

C: They are easier to study than robots.

Feedback: Incorrect. The study of animals is not necessarily easier than studying robots; both have their
own challenges.

D: They have simpler limb mechanics compared to robots.

Feedback: Incorrect. Animal limb mechanics are often more complex compared to those of robots.

Question 138 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: What you will learn in this course

Which of the following best explains the concept of kinematics in relation to limb movement?

A: The study of forces causing limb movement

Feedback: This is incorrect. The study of forces causing limb movement is related to dynamics, not
kinematics.

*B: The study of limb movement without regard to the forces causing it

Feedback: Correct! Kinematics focuses on the description of motion without considering the forces that
cause it.

C: The study of energy conversion during limb movement

Feedback: This is incorrect. The study of energy conversion during limb movement is not specifically
related to kinematics.

D: The study of muscle contractions involved in limb movement

Feedback: This is incorrect. Muscle contractions are related to biomechanics rather than kinematics.

Question 139 - checkbox, shuffle, partial credit, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Sprawled posture runners

Identify the components involved in mobility.

*A: Muscles

Feedback: Correct! Muscles are definitely involved in mobility as they generate the force required for
movement.

*B: Bones

Feedback: Correct! Bones provide the structural framework that supports mobility.

*C: Neurons

Feedback: Correct! Neurons play a crucial role in controlling and coordinating movements.

D: Hairs

Feedback: Incorrect. Hairs do not play a significant role in mobility.

E: Skin

Feedback: Incorrect. While skin provides protection, it is not directly involved in mobility.

Question 140 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

Which of the following best explains the evolutionary advantage of mobility in animals?

*A: It allows animals to find food and escape predators.

Feedback: Correct! Mobility offers significant advantages in finding food and avoiding predators.

B: It helps animals to stay warm in cold climates.

Feedback: Incorrect. Mobility is not directly related to staying warm in cold climates.

C: It reduces the need for complex sensory systems.

Feedback: Incorrect. Mobility often requires more complex sensory systems to navigate environments.

D: It helps animals in social bonding and communication.

Feedback: Incorrect. While social bonding and communication are important, they are not the primary
evolutionary advantages of mobility.
Question 141 - checkbox, shuffle, partial credit, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

Identify the characteristics that are generally associated with higher mobility in animals.

*A: Complex nervous system

Feedback: Correct! A complex nervous system is essential for processing information and coordinating
movement.

B: Rigid skeletal structure

Feedback: Incorrect. A rigid skeletal structure can limit mobility.

*C: Efficient energy usage

Feedback: Correct! Efficient energy usage is crucial for sustained mobility.

D: Large body size

Feedback: Incorrect. Large body size can sometimes hinder mobility.

*E: Adaptable limb structures

Feedback: Correct! Adaptable limb structures enhance an animal's ability to move effectively in various
environments.

Question 142 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Review LTI Mechanical Dynamical Systems

In limb dynamics, what term describes the resistance of an object to changes in its state of motion? Please
answer in all lowercase.

*A: inertia

Feedback: Correct! Inertia describes the resistance of an object to changes in its state of motion.

Default Feedback: Incorrect. Consider reviewing the section on dynamics and the forces involved in limb
movement.
Question 143 - numeric, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Review LTI Mechanical Dynamical Systems

A limb moves with an initial velocity of 3 m/s and accelerates at 0.4 m/s² for 5 seconds. What is its final
velocity in m/s?

*A: 5.0

Feedback: Correct! You have successfully calculated the final velocity of the limb.

Default Feedback: Incorrect. Revisit the section referring to Newton’s laws.

Question 144 - multiple choice, shuffle, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

Which of the following is a key factor in the dynamics of limb movement?

*A: Force

Feedback: Correct! Force is a key factor in the dynamics of limb movement as it influences motion.

B: Color

Feedback: Incorrect. Color is not a factor in the dynamics of limb movement. Revisit the lesson on
dynamics.

C: Shape

Feedback: Incorrect. Shape does not play a key role in the dynamics of limb movement. Consider
reviewing the dynamics section.

D: Speed

Feedback: Incorrect. Speed is related but not the key factor in the dynamics of limb movement. Think
about what initiates motion.

Question 145 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

What is the term used to describe a system that returns to its equilibrium state after a small disturbance?
Please answer in all lowercase.

*A: stable

Feedback: Correct! A system that returns to its equilibrium state after a disturbance is considered stable.

*B: stability

Feedback: Correct! Stability describes a system's ability to return to equilibrium.

Default Feedback: Review the concepts of stability in dynamical systems.

Question 146 - checkbox, shuffle, partial credit, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

Select the elements that are important in the study of mobility in robotics using nonlinear ordinary
differential equations.

*A: Trajectories

Feedback: Correct! Trajectories are essential in mobility studies.

*B: Equilibrium points

Feedback: Correct! Equilibrium points are crucial for understanding system behavior.

C: Linearization techniques

Feedback: Incorrect. Linearization techniques are not the primary focus in nonlinear analysis.

*D: Control inputs

Feedback: Correct! Control inputs are significant in the study of mobility.

E: Kinematic chains

Feedback: Incorrect. While kinematic chains are important in robotics, they are not specifically related to
nonlinear differential equations.
Question 147 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

Which aspect of nonlinear dynamical systems is critical in analyzing the stability of robotic systems?

*A: Energy dissipation

Feedback: Correct! Energy dissipation is crucial for understanding the stability of robotic systems.

B: External forces

Feedback: Not quite. While external forces do play a role, it is not critical for stability analysis.

C: Velocity constraints

Feedback: Incorrect. Velocity constraints are important but not the most critical aspect for stability
analysis.

D: Initial conditions

Feedback: While initial conditions are important, they are not more critical for stability analysis.

Question 148 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

What is one of the primary evolutionary reasons for the development of mobility in animals?

*A: To escape predators

Feedback: Correct! Mobility helps animals avoid predators and survive.

B: To reduce energy consumption

Feedback: No, reducing energy consumption is not a primary evolutionary reason for mobility.

C: To increase body temperature

Feedback: No, increasing body temperature is not a primary evolutionary reason for mobility.

D: To improve vision
Feedback: No, improving vision is not a primary evolutionary reason for mobility.

Question 149 - checkbox, shuffle, partial credit, difficult

Question category: Module: Introduction: Motivation and Background

Learning objective: Bioinspiration

Which of the following are reasons why animals have better mobility than machines?

*A: Evolutionary adaptations

Feedback: Correct! Evolutionary adaptations have fine-tuned animals' mobility over millions of years.

*B: Complex neural networks

Feedback: Correct! Complex neural networks in animals contribute to superior mobility.

C: Advanced material science

Feedback: No, while material science plays a role in machine development, it is not a reason for superior
animal mobility.

*D: Biological feedback mechanisms

Feedback: Correct! Biological feedback mechanisms allow animals to adapt and respond quickly to their
environments.

E: Higher energy efficiency in machines

Feedback: No, higher energy efficiency in machines does not contribute to superior animal mobility.

Question 150 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: What you will learn in this course

What is the term used to describe the motion of a limb without considering the forces that cause the
motion? Please answer in all lowercase.

*A: kinematics

Feedback: Correct! Kinematics describes the motion of a limb without considering the forces that cause
the motion.
Default Feedback: Incorrect. Remember, the term we are looking for describes motion without
considering the forces.

Question 151- multiple choice, shuffle, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: What you will learn in this course

In the context of limb movement, what does the term 'dynamics' refer to?

*A: The study of forces and their effects on motion

Feedback: Correct! Dynamics indeed refers to the study of forces and their effects on motion in limb
movement.

B: The analysis of motion without considering the forces

Feedback: Not quite. That description refers to kinematics, not dynamics. Review the differences between
kinematics and dynamics.

C: The study of the range of motion

Feedback: Incorrect. Dynamics involves the study of forces and their effects on motion, not just the range
of motion.

D: The design of robotic limbs

Feedback: Wrong. Dynamics does not specifically refer to the design of robotic limbs but to the study of
forces and their effects on motion.

Question 152 - numeric, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduction to dynamics and control

A robotic limb moves with an initial velocity of 3 m/s and accelerates at a constant rate of 1 m/s². What
will be its velocity after 4 seconds?

*A: 7.0

Feedback: Well done! You correctly calculated the final velocity of the limb.

Default Feedback: Not quite. Recall the formula for calculating the final velocity with constant
acceleration.
Question 153 - checkbox, shuffle, partial credit, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: What you will learn in this course

Which of the following are considered behavioral components of mobility? Select all that apply.

*A: Navigation strategies

Feedback: Correct! Navigation strategies are indeed considered behavioral components of mobility.

B: Muscle strength

Feedback: Incorrect. Muscle strength is a physical component, not a behavioral one.

*C: Obstacle avoidance techniques

Feedback: Well done! Obstacle avoidance techniques are behavioral components of mobility.

D: Limb coordination

Feedback: Not quite. Limb coordination is more of a physical component of mobility.

Question 154 - checkbox, shuffle, partial credit, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity

Which of the following statements are true regarding second-order differential equations in dynamical
systems?

*A: They can model the acceleration of a robotic arm.

Feedback: Correct! Second-order differential equations are often used to model acceleration in dynamic
systems such as robotic arms.

B: They are always linear.

Feedback: Incorrect. Second-order differential equations can be linear or nonlinear.

*C: They include terms involving the second derivative of a variable.

Feedback: Correct! Second-order differential equations involve terms with the second derivative of the
dependent variable.

D: They are not relevant to robotics.

Feedback: Incorrect. Second-order differential equations are highly relevant to robotics, especially in the
context of motion and control.

E: They are simpler to solve than first-order differential equations.

Feedback: Incorrect. Second-order differential equations are generally more complex to solve than first-
order differential equations.

Question 155 - multiple choice, shuffle, difficult

Question category: Module: Introduction: Motivation and Background

Learning objective: Legged Mobility: dynamic motion and the management of energy

What is the significance of basins in the analysis of nonlinear dynamical systems?

*A: They help determine the stability of equilibrium points.

Feedback: Correct! Basins of attraction are regions in the phase space where trajectories of the system
move towards an equilibrium point, indicating stability.

B: They measure the amount of energy in the system.

Feedback: Incorrect. Basins of attraction do not measure energy but rather indicate stability regions.

C: They describe the velocity of the system.

Feedback: Incorrect. The velocity of the system is not described by basins but by the system's equations
of motion.

D: They predict the future state of the system.

Feedback: Incorrect. Basins of attraction indicate stability but do not predict specific future states.

Question 156 - multiple choice, shuffle, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Introduce Nonlinear Mechanical Dynamical Systems: the dissipative pendulum in
gravity
What is the significance of second-order differential equations in robotics?

*A: They model the acceleration and velocity of robotic systems.

Feedback: Correct! Second-order differential equations are crucial in modeling the dynamics, including
acceleration and velocity, of robotic systems.

B: They model the temperature changes in robotic systems.

Feedback: Incorrect. Temperature changes in robotic systems are not typically modeled by second-order
differential equations.

C: They are used to design the robotic, Difficultware components.

Feedback: Incorrect. Designing robotic, Difficultware components isn't directly related to second-order
differential equations.

D: They describe the electrical circuits in robots.

Feedback: Incorrect. Electrical circuits in robots are generally modeled using other types of equations.

Question 157 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

What is the term for the evolutionary process that has resulted in the superior mobility of animals? Please
answer in all lowercase.

*A: adaptation

Feedback: Correct! Adaptation is the evolutionary process that has led to superior mobility in animals.

*B: evolution

Feedback: Correct! Evolution also refers to the broader process leading to complex traits like mobility.

*C: naturalselection

Feedback: Correct! Natural selection is a mechanism of evolution that has shaped the mobility of animals.

*D: natural selection

Feedback: Correct! Natural selection is a mechanism of evolution that has shaped the mobility of animals.

Default Feedback: Incorrect. Please review the evolutionary origins and mechanisms that contribute to the
superior mobility of animals.
Question 158 - checkbox, shuffle, partial credit, medium

Question category: Module: Introduction: Motivation and Background

Learning objective: Why and how do animals move?

Select the components that are involved in the mobility of animals.

*A: Muscles

Feedback: Correct! Muscles are essential for limb mobility as they generate the necessary force for
movement.

*B: Bones

Feedback: Correct! Bones provide the structural support needed for movement.

*C: Nerves

Feedback: Correct! Nerves control and coordinate the muscles and movement.

D: Lungs

Feedback: Incorrect. While lungs are crucial for respiration, they are not directly involved in limb
mobility.

E: Feathers

Feedback: Incorrect. Feathers are more related to birds' flight and insulation rather than limb mobility.

Question 159 - text match, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: Review LTI Mechanical Dynamical Systems

What term is used to describe the combination of simpler movements to create more complex behaviors?
Please answer in all lowercase.

*A: composition

Feedback: Correct! Composition refers to the process of combining simpler movements to form more
complex behaviors.

*B: synthesis

Feedback: Correct! Synthesis can also be used to describe the combination of simpler movements.
Default Feedback: Incorrect. Think about how simple movements come together to form more complex
actions.

Question 160 - multiple choice, shuffle, easy

Question category: Module: Introduction: Motivation and Background

Learning objective: What you will learn in this course

Which concept best describes the movement of limbs in terms of both position and orientation over time?

*A: Kinematics

Feedback: Correct! Kinematics is the study of motion without considering the forces that cause it,
focusing on position and orientation over time.

B: Dynamics

Feedback: Incorrect. Dynamics deals with the forces and torques that cause motion, not just the position
and orientation over time.

C: Statics

Feedback: Incorrect. Statics is the study of systems in equilibrium, where there is no motion.

D: Thermodynamics

Feedback: Incorrect. Thermodynamics is related to heat and energy transfer, not limb movement.

Question 161 - multiple choice, shuffle, difficult

Question category: Module: Introduction: Motivation and Background

Learning objective: Legged Mobility: dynamic motion and the management of energy

Which of the following best describes the role of energy basins in the analysis of nonlinear dynamical
systems?

*A: Energy basins help in understanding the stability of equilibrium points.

Feedback: Correct! Energy basins are crucial for analyzing the stability of equilibrium points in nonlinear
dynamical systems.

B: Energy basins measure the kinetic energy of a moving robot.

Feedback: Incorrect. Energy basins are not related to measuring kinetic energy.
C: Energy basins are used to determine the control input for robotic movement.

Feedback: Not quite. Energy basins are more concerned with stability rather than control input.

D: Energy basins define the physical boundaries within which a robot can operate.

Feedback: Incorrect. Energy basins are related to stability analysis, not physical boundaries of operation.