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Mobile Robots Worksheet

Total questions: 90

Worksheet time: 45mins

Name
Class
Date
1.

What are the three core elements required for a machine to be qualified as a robot?

a)

Wheels, Battery, Metal

b)

Sensing, Execution of Tasks, Re-programmability

c)

Speaking, Walking, Jumping

d)

Cameras, Wi-Fi, GPS

2.

What does AMR stand for?

a)

Automated Mechanical Robot

b)

Autonomous Mobile Robot

c)

Aerial Motion Rover

d)

Automatic Motor Rotation

3.

Which of the following is a characteristic of a Guided Mobile Robot (GMR) or Non-Autonomous Robot?

a)

It explores its surroundings freely.

b)

It requires external infrastructure like wires or magnetic strips.

c)

It uses AI to decide its own path.

d)

It is highly flexible and easy to adjust.

4.

According to the Mobile Robots Introduction file, what is a Polar Robot designed for?

a)

Underwater exploration

b)

Flying at high altitudes

c)

Traversing icy, uneven environments

d)

Home cleaning

5.

What is the primary definition of a Service Robot?

a)

A robot used exclusively in car manufacturing.

b)

A system operating semi- or fully autonomously for the well-being of humans (excluding manufacturing).

c)

A robot that requires a human to drive it manually.

d)

A stationary robotic arm.

6.

The term Autarchy in robotics refers to:

a)

The ability to think for itself.

b)

The ability to carry its own energy supply.

c)

The ability to connect to the internet.

d)

The ability to repair itself.

7.

Kuri, the home robot, is named after the Māori word for:

a)

Friend

b)

Cat

c)

Dog

d)

Helper

8.

Which of the following is a specific feature of the Kuri robot mentioned in the text?

a)

It has a 4-microphone array for voice detection.

b)

It has legs to climb stairs.

c)

It is designed for underwater surveillance.

d)

It runs on solar power only.

9.

What is a cited disadvantage (Con) of mobile robots?

a)

They cannot move between facilities.

b)

They lack computer vision.

c)

Limitations on the size of the load they can carry.

d)

They are slower than humans.

10.

What is the expected growth factor of the service robot market by 2025 mentioned in the text?

a)

Factor of 2

b)

Factor of 8

c)

Factor of 20

d)

No growth expected

11.

Which type of robot is also known as a UAV?

a)

Underwater Robot

b)

Aerial Robot (Drone)

c)

Ground Rover

d)

Humanoid

12.

The robot LAURON, developed at FZI Karlsruhe, is designed for:

a)

Swimming

b)

Flying

c)

Navigation in rough terrain (insect-type)

d)

Vacuuming floors

13.

The RoboTuna project at MIT examines:

a)

Biologically inspired underwater locomotion

b)

Fish processing automation

c)

Aerial surveillance over oceans

d)

Robotic pet therapy

14.

What defines an autonomous robot?

a)

It follows a black line on the floor.

b)

It navigates uncontrolled environments without external direction.

c)

It is controlled by a joystick.

d)

It is powered by a diesel engine.

15.

Which of the following is NOT a typical application of mobile robots mentioned?

a)

Load cargo in warehouses

b)

Nuclear power plant monitoring

c)

Automated prosthetics

d)

Replacing all human teachers

16.

Kinematics is defined as:

a)

The study of forces and mass.

b)

The study of how mechanical systems behave (motion) without considering forces.

c)

The study of battery life.

d)

The study of robot software.

17.

Dynamics in robotics refers to:

a)

The study of motion relating to force and mass.

b)

The study of position only.

c)

The speed of the processor.

d)

The aesthetic design of the robot.

18.

What constitutes the posture of a mobile robot?

a)

Only its X position.

b)

Only its Y position.

c)

Its position (X, Y) and orientation (θ or Φ).

d)

Its height and weight.

19.

What are the inputs for Forward Differential Kinematics?

a)

The desired position coordinates.

b)

The velocity input commands (wheel speeds).

c)

The map of the room.

d)

The sensor readings.

20.

What is the goal of Inverse Differential Kinematics?

a)

To find the wheel velocities required to achieve a desired robot motion.

b)

To find the robot's current position.

c)

To calculate the battery usage.

d)

To predict obstacles.

21.

The Jacobian matrix J(ψ) describes the relationship between:

a)

Battery voltage and motor speed.

b)

Velocity input commands and the derivatives of generalized coordinates.

c)

The robot's weight and friction.

d)

The X and Y axes only.

22.

A manipulator robot's workspace defines:

a)

The office it works in.

b)

The range of possible positions its end effector can reach.

c)

The maximum weight it can lift.

d)

The number of hours it can run.

23.

In the kinematic model, ξ˙ represents:

a)

The velocity in the inertial (global) reference frame.

b)

The wheel radius.

c)

The distance between wheels.

d)

The motor torque.

24.

For a differential drive robot, if both wheels spin at the same speed, the robot moves:

a)

In a circle.

b)

Straight forward.

c)

Backwards.

d)

It spins in place.

25.

Orientation is typically defined on a Cartesian plane as a degree range of:

a)

0–90 degrees

b)

0–180 degrees

c)

0–360 degrees

d)

-10 to +10 degrees

26.

Which vehicle is a classic example of a 2-wheel arrangement with one steering wheel and one traction wheel?

a)

Car

b)

Bicycle / Motorcycle

c)

Skateboard

d)

Tank

27.

The Cye personal robot uses which wheel configuration?

a)

4-wheel drive

b)

Two-wheel differential drive with the center of mass below the axle

c)

Legs

d)

Tracks

28.

A Synchro drive configuration typically uses how many wheels?

a)

1

b)

2

c)

3 (synchronously motorized and steered)

d)

6

29.

Which robot is an example of a 3-wheel configuration with two independent rear wheels and one unpowered omnidirectional front wheel?

a)

EPFL Alice / Pygmalion

b)

Bicycle

c)

Car

d)

Train

30.

The Uranus robot from Carnegie Mellon uses which unique wheel type?

a)

Standard tires

b)

Four omnidirectional wheels (Mecanum)

c)

Caterpillar tracks

d)

Wooden wheels

31.

How many wheels does the Terregator robot have?

a)

2

b)

3

c)

4

d)

6

32.

In a 4-wheel steered configuration (like Hyperion), why must the steering angles differ for the front wheels?

a)

To look cool.

b)

To avoid slipping/skidding (Ackermann steering principle).

c)

They don't need to differ.

d)

To save power.

33.

What represents an unpowered omnidirectional wheel in the provided icons?

a)

A solid black circle.

b)

A square box (□).

c)

A triangle.

d)

A star.

34.

The Nomad Scout is an example of:

a)

A flying drone.

b)

A 3-wheel centered differential drive with a third point of contact.

c)

A 6-wheel rover.

d)

A humanoid.

35.

A car with front-wheel drive falls under which wheel count category in the tables?

a)

2 wheels

b)

3 wheels

c)

4 wheels

d)

8 wheels

36.

A key advantage of mobile robots is:

a)

They require no maintenance.

b)

Flexibility and quick implementation.

c)

They cost zero dollars.

d)

They look like humans.

37.

What does adaptivity mean for an AMR?

a)

The robot can change its color.

b)

The robot can handle situations that have not been specified before (dynamic environments).

c)

The robot moves very fast.

d)

The robot can float.

38.

Perception of the environment relies mainly on:

a)

The robot's wheels.

b)

The robot's paint job.

c)

Sensors retrieving information (often noisy or incomplete).

d)

The user manual.

39.

Safety in AMRs often involves:

a)

Moving as fast as possible.

b)

Using an emergency stop and predicting critical situations.

c)

Ignoring humans.

d)

Having sharp edges.

40.

The interaction ability of a robot allows it to:

a)

Ignore commands.

b)

Receive commands via speech or gesture from an operator.

c)

Sleep.

d)

Fly without wings.

41.

Which sensor is explicitly mentioned as helping Kuri prevent falling down stairs?

a)

Mapping sensors

b)

Temperature sensors

c)

Humidity sensors

d)

Taste sensors

42.

The "Neptune" robot (CMU) uses:

a)

Two free wheels in the rear, 1 steered traction wheel in the front

b)

4 wheels

c)

6 wheels

d)

Legs

43.

Industrial robots typically operate in what kind of environment?

a)

Highly structured and static

b)

Completely unknown and wild

c)

Underwater

d)

In the sky

44.

What defines a "Non-Holonomic" constraint (implied in kinematics)?

a)

The robot can move instantly in any direction (like a helicopter)

b)

The robot has constraints on its motion (e.g., a car cannot move sideways without turning)

c)

The robot has no wheels

d)

The robot is broken

45.

What is the "Reference Line" used for in mobile robot orientation?

a)

To measure the battery level

b)

To define the angle (degree) on Cartesian axes

c)

To clean the wheels

d)

To connect to Wi-Fi

46.

Which coordinate represents lateral displacement in the kinematic equations?

a)

x

b)

y

c)

θ

d)

z

47.

Which coordinate represents forward displacement in the kinematic equations?

a)

x

b)

y

c)

θ

d)

z

48.

What is "Fleet Simulation Software" used for?

a)

To play video games

b)

To manage and simulate a group of industrial mobile robots

c)

To design the robot's physical shell

d)

To update the robot's antivirus

49.

An exoskeleton for military troopers is an example of:

a)

A toy

b)

A mobile robot use case for carrying heavy loads

c)

A home robot

d)

An underwater vehicle

50.

What is the primary cause of motion for the robot in the kinematic model?

a)

The wind

b)

The velocity input commands (u,v,r)

c)

The color of the floor

d)

The time of day

51.

The "Nomad Scout" and "smartRob EPFL" are examples of which wheel configuration?

a)

Two-wheel centered differential drive with a third point of contact

b)

2-wheel differential drive

c)

Four steered and motorized wheels

d)

3-wheel synchronous drive

52.

Which robot utilizes "three synchronously motorized and steered wheels"?

a)

Denning MRV-2

b)

Hero-1

c)

Tribolo EPFL

d)

Cye

53.

A mobile robot is defined as a machine controlled by software that uses what to identify its surroundings?

a)

Sensors and other technology

b)

Maps only

c)

User manual inputs

d)

GPS exclusively

54.

Which type of mobile robot is capable of navigating an uncontrolled environment without external direction?

a)

Autonomous Mobile Robots

b)

Guided Mobile Robots

c)

Industrial Arms

d)

CNC Machines

55.

Guided Mobile Robots (GMR) require external help such as:

a)

Wires or magnetic strips

b)

Cameras and Lidar

c)

Satellite connection

d)

Solar power

56.

"Polar Robots" are designed to traverse which type of environment?

a)

Icy, uneven environments

b)

Underwater deep sea

c)

High-temperature volcanoes

d)

Urban households

57.

"Kuri" is described as a home robot that can be treated as:

a)

A robotic pet

b)

A security guard

c)

A cleaning appliance

d)

A medical assistant

58.

To be qualified as a robot, a machine must be able to do which of the following?

a)

Sense, perceive, and function autonomously

b)

Consume organic food

c)

Move faster than a human

d)

Look like a human

59.

"Position" in a mobile robot is defined as:

a)

A 2-dimensional plane on Cartesian axes (X, Y)

b)

A degree range from 0-360

c)

The speed of the robot

d)

The battery level

60.

"Orientation" is defined as:

a)

A degree on a dimensional plane (range 0-360)

b)

A value on the X-axis

c)

The height of the robot

d)

The weight of the robot

61.

"Posture" of a mobile robot is a dimensional statement that states:

a)

Both Position and Orientation

b)

Only Position

c)

Only Orientation

d)

Velocity and Acceleration

62.

The posture vector is typically defined as:

a)

(X,Y,Φ)(X,Y,\Phi)

b)

(u,v,r)(u,v,r)

c)

(X,Y,Z)(X,Y,Z)

d)

Mass, Velocity

63.

Which of the following is NOT listed as a type of mobile robot?

a)

Stationary welding robots

b)

Wheeled mobile robots

c)

Legged robots

d)

Aerial robots

64.

In the example posture (X2,Y3,45°), what does 45° represent?

a)

The Orientation (Φ)

b)

The X coordinate

c)

The Y coordinate

65.

A robot is described as an electromechanical system with:

a)

Sensing, intelligence, or mobility

b)

Feelings and emotions

c)

Biological muscle tissue

d)

Infinite energy

66.

The reference line is used to define which attribute of the robot?

a)

Orientation

b)

X coordinate

c)

Y coordinate

d)

Weight

67.

Kinematics is the study of:

a)

How mechanical systems behave

b)

The forces causing motion

c)

The mass of the robot

d)

The software algorithms only

68.

A mobile robot's workspace defines:

a)

The range of possible poses the robot can achieve in its environment

b)

The size of the room it is in

c)

The number of wheels it has

d)

The speed of its processor

69.

Forward kinematic models predict the robot's overall speed given:

a)

The geometry and wheel speeds

b)

The destination coordinates

c)

The battery voltage

d)

The sensor readings

70.

The symbol ξ˙\dot{\xi} typically represents:

a)

Velocities in the global reference frame

b)

Velocities in the robot reference frame

c)

Wheel radius

d)

Distance between wheels

71.

Forward differential kinematics involves finding:

a)

The derivatives of generalized coordinates for given velocity input commands

b)

The mass of the robot

c)

The friction coefficient

d)

The velocity input commands from a given trajectory

72.

Inverse differential kinematics is described as:

a)

Controlling the system at the velocity level

b)

Simulating the system

c)

Designing the wheel shape

d)

Calculating the robot's weight

73.

The matrix J(ψ)J(\psi) used to map input commands to generalized coordinate derivatives is called:

a)

The Jacobian (or velocity transformation) matrix

b)

The Identity Matrix

c)

The Force Matrix

d)

The Rotation Vector

74.

In the kinematic relationship, the vector ζ\zeta represents:

a)

The velocity input commands (u, v, r)

b)

The position coordinates (x, y, ψ)

c)

The wheel radius

d)

The time t

75.

The equation x˙=ucos⁡ψ−vsin⁡ψ\dot{x} = u\cos\psi - v\sin\psi represents:

a)

Forward displacement velocity of the robot with respect to frame I

b)

Lateral displacement velocity of the robot with respect to frame I

c)

Angular velocity

d)

Wheel acceleration

76.

The degree of maneuverability depends on:

a)

The type of wheel

b)

The color of the robot

c)

The software version

d)

The battery capacity

77.

The presentation states that for a land-based mobile robot, the generalized coordinate vector is:

a)

[x,y,ψ]t[x,y,\psi]^{t}

b)

[x,y,z]t[x,y,z]^{t}

c)

[u,v,w]t[u,v,w]^{t}

d)

[α,β,γ]t[\alpha,\beta,\gamma]^{t}

78.

Which sector is identified as the biggest commercial market for robotics?

a)

Industrial robots

b)

Service robots

c)

Toy robots

d)

Military drones

79.

The degree of maneuverability of a mobile robot is defined as:

a)

Degree of mobility + steerability

b)

Degree of mobility × steerability

c)

Degree of freedom + actuator constraints

d)

Number of wheels × number of actuators

80.

A wheel that allows pure rolling without lateral slip is called:

a)

Conventional wheel

b)

Mecanum wheel

c)

Caster wheel

d)

Omni wheel

81.

The local reference frame of a mobile robot is fixed at:

a)

A chosen reference point on the robot chassis

b)

The midpoint of the wheels

c)

The center of gravity of the robot

d)

The world origin

82.

In maneuverability, steerability represents:

a)

The number of independently controlled steering inputs that change the robot's direction

b)

The total number of wheels

c)

The battery capacity

d)

The mass of the robot

83.

A cyclic rickshaw with rear power wheels and a front steerable wheel has a degree of maneuverability:

a)

2

b)

1

c)

3

d)

4

84.

A robot has two fixed powered wheels and one passive caster. Its degree of mobility and steerability are:

a)

Mobility = 2, Steerability = 0

b)

Mobility = 1, Steerability = 1

c)

Mobility = 2, Steerability = 1

d)

Mobility = 3, Steerability = 0

85.

If a car-like robot has front wheels that are powered and steerable, then δm\delta_m = ?

a)

2

b)

3

c)

4

d)

1

86.

A robot has two independent powered wheels and two passive casters. Its degree of maneuverability is:

a)

2

b)

1

c)

3

d)

4

87.

A robot needs to transport goods inside a hospital across multiple floors. Which AMR application category does this belong to?

a)

Transportation

b)

Surveillance

c)

Exploration

d)

Housekeeping

88.

Which locomotion type is most suitable for traversing rough terrain where wheeled robots fail?

a)

Legged locomotion

b)

Tricycle drive

c)

Ackerman steering

d)

Omni wheel drive

89.

Suppose you want a robot to explore collapsed buildings after an earthquake. Which design would you propose?

a)

Legged robot with redundant joints for rubble traversal

b)

Differential drive robot with knobby tires

c)

Ackermann steering robot with simple linkage

d)

Omni-wheel robot with flat-floor assumptions

90.

If a robot has δm\delta_m = 3, what can it achieve that a δm\delta_m = 2 system cannot?

a)

Move sideways without changing orientation

b)

Maintain stability on uneven terrain

c)

Drive straight more efficiently

d)

Avoid steering altogether

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