Timoshenko Beam Model for Exploration and Sensing With a Continuum Centipede Inspired Robot
Bibliographic record
Abstract
We present the continuum model of a robot inspired by organisms like centipedes and polychaete worms. The continuum model is obtained as the limit of a rigid body chain with pinned elements, which leads to a Timoshenko beam model that is described by a one dimensional continuum with local Euclideian structure. The local Euclideian structure models the cross sections that are kinematically described by their position and orientation. The leg structures in the biological systems are modeled in the continuum limit as a distribution of compliant elements. Modal properties of the system are investigated. The compliance of the legs can be exploited for sensing purposes with specific application to the reconstruction of the surrounding environment and to the estimation of physical properties. The class of models in this papers applies to the continuum description of several emerging robotic application that range from tools for exploration in hazardous or generally not accessible environments (to humans) to novel healthcare systems as for example endoscopic tools for diagnostic in the gastrointestinal tract.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".