Taking your robot for a walk: force-guiding a mobile robot using compliant arms
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
Guiding a mobile robot by the hand would make a simple and natural interface. This requires the ability to sense forces applied on the robot from direct physical contacts, and to translate these forces into motion commands. This paper presents a joint-space impedance control approach that does so by perceiving forces applied on compliant arms, making the robot react as a real-life physical object to a user pulling and pushing on one or both of its arms. By independently controlling stiffness in specific degrees-of-freedom, our approach allows the general position of the arms to change to the preferences of the person interacting with it, a capability that is not possible using a strictly position-based control approach. A test case with 15 volunteers was conducted on IRL-1, an omnidirectional, non-holonomic mobile robot, to study and fine-tune our approach in an unconstrained guiding task, making IRL-1 go in and out of a room through a doorway.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 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