An intuitive approach for quadruped robot trotting based on virtual model control
Why this work is in the frame
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Bibliographic record
Abstract
This article presents an intuitive approach based on virtual model control for quadrupedal dynamic locomotion, aiming at simple and robust trotting control. The controller consists of two main modules: stance phase virtual model control for full control of the robot body and swing phase virtual model control for control of swing legs. We combine the decomposed virtual model control with Raibert’s method to intuitively regulate the height, speeds and attitude of the body during stance phase, with special attention to the rotation about the body diagonal line. To unify the control law and further simplify the controller, virtual model control is also implemented for swing legs to follow the planned swing foot trajectories that are self-adapting depending on the speeds of the robot. Simulations including forward trotting, lateral push recover, and lateral travel are presented to demonstrate the effectiveness and robustness of our controller.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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