Contact Parameter Estimation With a Space Robot Verification Facility
Bibliographic record
Abstract
Computer simulations play an important role in the design and verification of space robotic operations since on-orbit tests are impossible to conduct before launch. Thus, accurate computer modeling and simulation of space robotic tasks is essential. Of particular difficulty are the space manipulator operations, that involve constrained or contact tasks. Here, the contact dynamics capability in the modeling tools becomes critical for high fidelity simulations. This in turn implies a need for accurate determination of contact parameters, which are used as inputs to contact dynamics simulation. In this work, the identification of contact dynamics parameters based on sensor data obtained during robotic contact tasks is considered. In particular, the contact parameter estimation problem is addressed for simple contacting geometries using the SPDM Task Verification Facility Manipulator Testbed (SMT) at the Canadian Space Agency, where SPDM is the Special Purpose Dexterous Manipulator. The SMT is a robotic simulation facility, which also features gravity compensation algorithms to support the emulation of space robots. Single point SMT contact experiments were performed with six different payloads. Eight unique single point contact parameter estimation algorithms were used as part of the process of identifying payload stiffness from SMT experimental data.
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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".