Kinematics and interaction analysis for tracked mobile manipulators
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
This paper presents a systematic method to establish the kinematics model for a tracked mobile manipulator on firm grounds, with consideration of the interactive motions between the tracks and the terrain as well as those between the tracked vehicle and the onboard manipulator. Kinematics modeling for a tracked mobile manipulator is an intractable problem, because there are infinite number of contact points between the tracks and the terrain which makes slippage unavoidable. The track-terrain and vehicle-manipulator interactions make the problem even more complex and difficult to solve since the motion of the onboard manipulator and the centrifugal forces during moderate or high speed motion will give rise to transfer of the load distribution, which may affect the longitudinal and lateral tractive forces and the resistance. This work aims at developing a general kinematics modeling approach, which lays a solid foundation for automatic control of tracked mobile manipulators.
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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