A SYSTEMATIC GAIT-PLANNING FRAMEWORK NEGOTIATING BIOMECHANICALLY MOTIVATED CHARACTERISTICS OF A PLANAR BIPEDAL ROBOT
Why this work is in the frame
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Bibliographic record
Abstract
Natural human walking possesses three characteristics: (i) gait repeatability, (ii) postural balance, and (iii) highly regulated centroidal angular momentum (CAM). In this paper, a systematic gait-planning framework is presented for the gait planning of a five-link bipedal robot, negotiating those three characteristics. The framework employs a set of task-space variables and a set of gait parameters. Five kinematic and dynamic objective functions are selected, corresponding to the biped's five degrees of freedom (DOFs), incorporating three characteristics. Fusing the equations of five objective functions together, two ordinary differential equations called the framework equations are derived. Assigning desired values to the gait parameters, the framework equations are integrated across the gait cycle, rendering the motion profiles of the task-space variables. A set of simulation results shows that the framework presents gait that successfully negotiates three characteristics. A parametric analysis is then carried out to study the effect of changing the gait parameters on the joint angular displacements and velocities, the postural balance, and the regulation of CAM of the bipedal robot.
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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 | 0.001 | 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