Bibliographic record
Abstract
Balancing control is important for biped locomotion. In spite of large efforts, it is extremely difficult to design balancing control strategies for a standing biped satisfying the following three requirements simultaneously: maintaining postural stability, improving energy efficiency and guaranteeing satisfaction of the constraints between the biped feet and the ground. In this paper, a proportional-derivative (PD) controller developed from the genetic algorithm (GA) satisfying all three requirements is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The simulation results show that with the proposed controller the biped can be maintained at the upright position with the minimal energy consumption, and the constraints between the foot-link and the ground are satisfied during quiet standing. By using the concept of Lyapunov exponents (LEs), the stability analysis of the controlled biped is provided. Morever, structural stability of the biped subject to the different control gains is also investigated, and parts of the stability regions in the parametric space of control gains are identified. The paper contributes to the biped balancing control, which is significant to the development of biped robots.
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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) | 0.001 | 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".