Effect of base compliance on the dynamic stability of mobile manipulators
Bibliographic record
Abstract
This paper extends the model developed previously by the authors, 1 for studying dynamic stability of mobile manipulators. The extended model not only takes into account the dynamics of the base that can potentially rock back-and-forth, but also accounts for the flexibility of the contact between the base and the ground. A novel method of virtual links is used to reformulate the problem of modeling the non-fixed base manipulator in terms of a fixed-base manipulator with one degree of freedom joints. The resulting model is then used to simulate planar movements of a Caterpillar excavator-based log-loader. The results clearly demonstrate the relationship between movement of the implement and the stability of the machine. The flexible contact between the base and the ground is also shown to influence the stability. The results are also compared with those obtained by the previous model, which assumed rigid contact between the base and the ground. It is demonstrated that the assumption of rigid contact tends to overestimate the stability. Consequently, flexibility in the contact bet- ween the base and the ground must be considered to more accurately predict the stability of mobile manipulators.
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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".