Reducing complexness of control by intelligent mechanics in undulant swimming robots
Bibliographic record
Abstract
This article introduces a biologically inspired modular swimming robot. Due to defi ned interfaces in mass, energy, and information fl ux, the robot's swimming behavior is changeable: an undulant, successive called anguilliform as well as a thunniform swimming mode is adjustable. Unlike the current state of the art, the robot comes with specifi c designed mechanics for the reduction of the complexity of software-sided control. Thereby, the number of actuators required for propulsion is reduced to the minimum number of one. Currently the prototype robot consists of a basic structure generating amongst others the required torque and several effector modules. The locomotion mode is switchable depending on the number of effector modules. Thereby, the latest anguilliform setup contains three effector modules. The current thunniform confi guration features one effector module. The effector modules are mechanically coupled with a manually tunable compliant joint. Optimum values concerning spring stiffness subjected to the location of the joint within the robot are evaluated by simulation.
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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 | 0.001 | 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".