Interaction analysis and posture optimization for a reconfigurable tracked mobile modular manipulator negotiating slopes
Bibliographic record
Abstract
This paper analyzes track-terrain and vehicle-manipulator interactions and develops posture optimization algorithms for a reconfigurable tracked mobile modular manipulator negotiating slopes. A tracked mobile robot is associated with unavoidable slippage due to the fact that there are infinite number of contact points between the tracks and the terrain. Furthermore, the reconfiguration of the tracked mobile robot, motion of the onboard manipulator, as well as the centrifugal forces give rise to transfer of load distribution, complicating track-terrain interactions. For a tracked mobile manipulator negotiating slopes, posture optimization is essential for enhancing the traction performance, improving the efficiency of power consumption and avoiding tip-over instabilities. In this paper, track-terrain and vehicle-manipulator interactions are analyzed for a reconfigurable tracked mobile modular manipulator negotiating slopes, and a real-time posture optimization algorithm is developed by online reconfiguring the tracked mobile platform or adjusting motion of the onboard manipulator. The effectiveness of the developed algorithms has been verified by simulations and experiments.
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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".