FLEXIBLE ANKLE BASED ON PKM WITH FORCE/TORQUE SENSOR FOR HUMANOID ROBOT
Why this work is in the frame
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Bibliographic record
Abstract
This paper describes the development of a novel humanoid robot ankle based on an orientation Parallel Kinematic Mechanism (PKM) for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotational motions. In order to enable the humanoid robot safely to walk stably on the irregular environment, the control system should possess intelligence and flexibility. As the force information is one of the most important inputs for the control system, a novel integrated force sensor is designed to measure the action force and moment at the foot when humanoid robot maintains balanced or moves. The design possesses some interesting features such as high stiffness and compactness and is helpful for both reliable architectural design and performance improvement of the humanoid robot foot/ankle.
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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