Towards a dynamic actuator model for a hexapod robot
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
We describe a model predicting the output torque of the battery-amplifier-actuator-gear combination used on the hexapod robot RHex, based on requested PWM (pulse width modulation) duty cycle to the amplifier, battery voltage, and motor speed. The model is broken into independent components, each experimentally validated: power source (battery), motor amplifier, motor and (planetary) gear. The resulting aggregate model shows <6% full scale RMS error in predicting output torque in the first quadrant of operation (positive torques). Understanding the key ingredients and the attainable accuracies of torque production models in our commonly used battery-amplifier-actuator-gear combinations is critical for mobile robots, in order to minimize sensing, and thus space, size, weight, power consumption, failure rate, and cost of mobile robots.
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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