Simple switching control for hybrid dynamics of a planar hopping robot
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper presents a new prospect of switching controller for the hybrid dynamics of a hopping robot. The hopping robot studied in this paper jumps using only its single leg, and its dynamics is considered as a hybrid system. The robot dynamics has the aerial phase and the ground-contact phase, and the phase change is driven by the touchdown and lift-off events. Thus, it is an event-driven dynamically intermittent system, i.e. a hybrid system. The hybrid dynamics including the two phases usually requires a distinct controller for each phase because legged robots have completely different dynamics for each phase. In contrast, this paper presents one form of controller applied to both phases. The controller is flexible enough that only desired variables and gains are switched and the switching is driven by the phase change events. This controller proposed and applied in this paper is in the likely simplest form. From a practical point of view, this minimalist approach is desirable for robotics applications due to their nature of being real-time embedded control systems in implementation. For analyzing simulation and experimental data, the Poincare map is introduced. Resulting motion is shown and discussed in the context of discrete system stability.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it