Real-time collision avoidance for a redundant manipulator in an unstructured environment
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
The problem of redundant manipulator collision avoidance in an unstructured environment is addressed in this paper based on the concept of modified impedance control. Instead of using a limited degree of redundancy (as in conventional methods) to find a collision-free trajectory, in the proposed approach, a robot's commanded joint torques are augmented by an "artificial" joint torque to provide correction for collision avoidance. "Artificial" collision forces are generated online according to the robot's posture and environment information (through knowledge of the robot kinematics and environment or proximity sensors on the robot). The corresponding artificial collision forces are converted to equivalent joint torques that would accomplish the collision avoidance manoeuvre. Then, the commanded joint torques are augmented so that a collision-free joint torque profile is achieved. Robot-to-environment collisions, robot self-collisions and robot constraints such as joint limit and singularity avoidance can be achieved using this method.
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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) | 0.001 | 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