Track--Stair Interaction Analysis and Online Tipover Prediction for a Self-Reconfigurable Tracked Mobile Robot Climbing Stairs
Why this work is in the frame
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Bibliographic record
Abstract
This paper analyzes track-stair interactions and develops an online tipover prediction algorithm for a self-reconfigurable tracked mobile robot climbing stairs, which is vulnerable to tipping-over. Tipover prediction and prevention for a tracked mobile robot in stair climbing are intractable problems because of the complex track--stair interactions. Unlike the wheeled mobile robots, which are normally assumed to obey the nonholonomic constraints, slippage is unavoidable for a tracked mobile robot, especially in stair climbing. Furthermore, the track-stair interactive forces are complicated, which may take the forms of grouser-tread hooking force, track--stair edge frictional force, grouser-riser clutching force, and even their compositions. In this paper, the track--stair interactions are analyzed systematically, and tipover stability criteria are derived for a tracked mobile robot climbing stairs. An online tipover prediction algorithm is also developed, which forms an essential part for autonomous and semiautonomous stair-climbing control. The effectiveness of the proposed algorithms are verified by experiments.
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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 | 0.001 |
| 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