On Impact Dynamics and Contact Events for Biped Robots via Impact Effects
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
In this paper, impact dynamics of a five-link biped walking on level ground are studied, and the results are used to correlate the gait parameters with the contact event following impact. The conventional five-link biped kinematic model is improved such that, for the first time, the explicit solution for the external impulses is obtained in a detailed but compact form. Such a solution reveals that the direction of the swing tip velocity prior to impact is a key factor dictating the upcoming contact event and the slippage. The conventional conditions to warrant the types of impact are expanded to make them sufficient. The aforementioned results are used in the parametric analysis to predict the contact event after impact. Such a prediction is important for proper dynamic modeling, motion planning, and control of the upcoming supporting phase.
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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) | 0.001 | 0.001 |
| 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