A walking stability controller with disturbance rejection based on CMP criterion and Ground Reaction Force feedback
Why this work is in the frame
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Bibliographic record
Abstract
A novel controller using Center of Gravity (COG) planning based on the Centroidal Moment Pivot (CMP) criterion with Ground Reaction Force (GRF) feedback is presented. High level motion planning of the robot is done by planning a reference CMP trajectory that lies within the support polygon. In order to ensure rotational stability, the controller regulates the distance between the Zero Moment Point (ZMP) and the reference CMP through COG manipulation. A reference COG trajectory is generated from the measured GRF and a simplified model of the rotational dynamics of the robot. The reference COG is then decomposed into reference joint velocities via kinematic resolution of the COG Jacobian. Planar simulations show that modifying the COG trajectory using the CMP criterion with GRF feedback increases the controller's robustness to external disturbances compared to a ZMP based controller. Additionally, the results show that the constant non-zero momentum generated by external disturbances can be regulated by minimizing the difference between the reference CMP and ZMP positions, without explicitly regulating the momentum about the COG.
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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