Interaction Analysis and Online Tip-Over Avoidance for a Reconfigurable Tracked Mobile Modular Manipulator Negotiating Slopes
Why this work is in the frame
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Bibliographic record
Abstract
This paper analyzes tip-over stability and develops tip-over avoidance algorithms for a reconfigurable tracked mobile modular manipulator negotiating slopes, with consideration of track-terrain and vehicle-manipulator interactions. Integrating a tracked vehicle with an onboard manipulator, a tracked mobile manipulator is vulnerable to tipping over when negotiating slopes. Unlike the wheeled mobile robots, which are normally assumed to obey the nonholonomic constraints, slippage is unavoidable for a tracked vehicle negotiating slopes. The reconfiguration of the tracked vehicle, the motion of the onboard manipulator, together with the centrifugal forces during moderate or high-speed motion give rise to transfer of load distribution, thus complicating track-terrain interactions. In this paper, tip-over stability criteria are derived for a reconfigurable tracked mobile modular manipulator negotiating slopes, and a real-time tip-over avoidance algorithm is developed with online tracked vehicle reconfiguration or manipulator adjustment. The effectiveness of the developed algorithms has been verified through simulations and experiments, and the results are reported in this paper.
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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