Experimental evaluation of the importance of compliance for robotic impact control
Bibliographic record
Abstract
We present experimental results for impact control of a 2DOF DD manipulator against a stiff and compliant environment. The manipulator is commanded to approach the stiff environment at a specified velocity, and, once in contact with it, to exert a specified force on it. We present a simple understanding of the three stages of impact control, the pre-contact stage, the impact stage and the post contact stage; we adopt such a basic approach due to the ambiguous nature of results presented in the literature. Besides, in doing so, we take into cognizance the state-of-the art in robotic hardware, which have important implications in any implementation of impact control strategies. The emphasis of the paper is on experimental implementation; a clear cut distinction between what works and what does not. Our results indicate that for very stiff environments, stable impact control may be achieved at low velocities only, and that for a compliant system, there is a trade-off between approach velocity, compliance, sampling time and the bandwidth of the robotic system.>
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.008 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.005 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".