Effects of gravity and friction constraints on bipedal balance control
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
The satisfaction of constraints between the foot and the ground during balancing of bipedal standing is important. In this work, the effects of two constraints, namely the gravity constraint and the friction constraint, on balancing of a simplified two-dimensional biped are considered. The bounds imposed on the control torque are first determined analytically. Such results not only show the specific constraint causing the control bounds, but also indicate the possible violation of the individual constraint. It is also found that the angular velocity plays a crucial role in satisfying the constraints. More importantly, it is found that in a region around the upright position within the critical angles, if the angular velocity is above the critical one, regardless of the control torque, the constraints cannot be satisfied. Another interesting finding is that between the gravity constraint and the friction constraint, the friction constraint is more dominant, thus should be considered carefully
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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