Motion Study of an Omni-Directional Rover for Step Climbing
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Bibliographic record
Abstract
In this paper, a study of a wheeled mobile robot (WMR) with omni-directional mobility and rover-like climbing ability is presented. Various rovers with robust locomotion design had been developed. However, the rover locomotion design with omni-directional mobility has not been addressed commonly. Shrimp suspension system and parallel bogies were employed as robot locomotion. It adapts to the terrain profile passively and it has better climbing capability than other rovers. To achieve a singularityless motion, the kinematic model of a wheeled mobile robot (WMR), including a platform equipped with six omni-directional wheels (ODWs), is formulated. The contents of this study are the design principle, kinematics, and motion studies. Also, experimental results have been employed to verify the model developed.
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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