HUMANOID ROBOT MOTION PLANNING – A MULTIPLE CONSTRAINS APPROACH
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Bibliographic record
Abstract
In this paper, we present a new method for humanoid robot motion planning under multiple constraints. In our method, the multiple constraints humanoid robot motion is formulated as a multiobjective optimization problem, considering each constraint as a separate objective function. Three different constrains are considered: (1) minimum energy consumption; (2) stability; and (3) walking speed. The advantage of the proposed method is that in a single run of multiobjective evolution, are generated humanoid robot motions satisfying each constraint. The results show that optimal humanoid robot gaits have a large similarity with that of humans. In order to further verify the performance of optimal motions they are transferred to the “Bonten-Maru” humanoid robot.
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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