INTEGRAL SLIDING MODE CONTROL OF A BIPEDAL LEAP
Why this work is in the frame
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Bibliographic record
Abstract
This paper examines the dynamics and control of the humanoid double support stance (DSS) leap in the air and the subsequent stable landing. A complete model of a five-link biped standing on flat ground is considered in four phases: the take-off phase, the flight phase, the landing phase with impact, and the standing-up phase. Based on the presented dynamic formulation, an integral sliding mode control strategy is developed to track the reference motion, obtained by experimental recording of humans executing the DSS leap. The stability, finite-time convergence and robustness of the system are analyzed, and verified by computer simulation. The predicted ground reaction force (GRF) profiles are in agreement with experimental recording of the GRFs. In particular, the predictions capture the short duration, and large amplitudes of the GRFs upon impact as well as the burst of high energy required during the take-off phase.
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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 it