EFFECTS OF CONSTRAINTS ON STANDING BALANCE CONTROL OF A BIPED WITH TOE-JOINTS
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Bibliographic record
Abstract
The constraints between biped foot-links and the ground have significant effects on bipedal motion planning and control. In this paper, such effects on balancing control of a standing biped moving in the sagittal plane are investigated. The biped consists of two parts: an inverted pendulum representing the legs and the upper body, and a foot having a toe-link and a heel-link. The biped is regulated by two torques at the ankle-joint and the toe-joint to maintain the upper body at the upright position and the foot-links being stationary on the ground. Three constraints namely no lifting, no slipping and no rolling over about either the toe or the heel are considered. The satisfaction of the constraints imposes bounds to the control torques, which are crucial to design a control law and predict the type of falls if the constraints are violated. The control bounds caused by each individual constraint are calculated and the interaction between the constraints is also investigated. During the investigation of the control bounds, critical angular velocities are calculated above which the constraints are violated regardless of the control torques. The importance of the toe-joint torque in preventing rolling-over and effect of the toe-link length on standing balance control are also discussed in this work.
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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)
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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