Uni-drive modular robots with pulse width modulation control
Bibliographic record
Abstract
In this paper a newly developed concept and design in modular robots and relevant control methodology are introduced. This new class is called "uni-drive modular robots" whose design employs only a single drive for operating all the joints. The drive is mounted at the robot base and all joints tap power from a central rotating shaft inside each module using spring wrap clutches (SWC). This technique can effectively reduce the mass of each module which is the most important setback in design and applications of modular robots. From the control point of view, the uni-drive modular robot is controlled based upon the application of pulse width modulation (PWM) technique. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. In this work, we study the overall design of a planar uni-drive modular robot and obtain a self expansion formula which can automatically generate all equations of motion only based upon the number of modules. We further model SWCs and self locking mechanism which are parts of the proposed robot.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| 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 source (direct Gemma or distilled Codex), 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".