Modified Mecanum Wheels for Traversing Rough Terrains
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
Mecanum wheels give vehicles and robots autonomous omni-directional capabilities, while regular wheels don't. The omni-directionality that such wheels provide makes the vehicle extremely maneuverable, which could be very helpful in different indoor and outdoor applications. However, current Mecanum wheel designs can only operate on flat hard surfaces, and perform very poorly on rough terrains. This paper presents two modified Mecanum wheel designs targeted for complex rough terrains and discusses their advantages and disadvantages in comparison to regular Mecanum wheels. The wheels proposed here are particularly advantageous for overcoming obstacles up to 75% of the overall wheel diameter in lateral motion which significantly facilitates the lateral motion of vehicles on hard rough surfaces and soft soils such as sand which cannot be achieved using other types of wheels. The paper also presents control aspects that need to be considered when controlling autonomous vehicles/robots using the proposed wheels.
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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