Impedance control of a teleoperated mini excavator
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Bibliographic record
Abstract
A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and presents supporting experimental results. First, the problem of impedance control for a single hydraulic actuator is addressed and a method is presented for stability analysis. Steady-state position and force tracking of the closed loop system is also studied. Then, the desired impedance of the end-effector (bucket of the excavator) is mapped onto the hydraulic cylinders using the arm Jacobian and accurate estimates of the arm inertial and gravity terms. A nonconservative method is presented for predicting stability of the multivariable closed loop system. Experiments with an instrumented mini excavator (for the single cylinder case) show that the designed impedance controller has a good performance.
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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) | 0.002 | 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