Dynamic Modeling and Slippage Analysis in Object Manipulation by Soft Fingers
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
In this paper, dynamic modeling and slippage analysis of a three-link soft finger manipulating a rigid object on a horizontal surface is studied. In order to integrate the dynamics of soft tip with the finger linkage, power-law model and a linear viscous damper are used to model the elastic behavior and damping effect of soft tip respectively. Because of the enlarged contact area in the soft contact, a frictional moment can be exerted at the contact interface along with the normal and tangential forces. Furthermore, because of planar motion of object, frictional forces and moment are applied in the contact of object and ground. Therefore, friction limit surface is used as a mapping between contact forces/moment and sliding motions in both contacts. Instead of using equality and inequality equations of frictional contact conditions, a method is proposed to describe different states of the contact forces and moment by a single second-order differential equation with variable coefficients. This kind of formulation of the system dynamics facilitates the design of a controller to cancel the undesired slippage occurs between the soft tip and object during the manipulation.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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