On adaptive force/motion control of constrained robots
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
An adaptive control algorithm for controlling the trajectory of motion and the contact force of the end-effector for constrained robots simultaneously is presented. The development of the algorithm is based on the nonlinear coordinate transformation of N.H. McClamroch and D. Wang (1988). The passivity-based control scheme of J.J. Slotine and W. Li (1987) is adopted, where the sliding surface is expanded to include the contact force error, to guarantee the asymptotic stability of the closed-loop system. In the proposed scheme, the unknown parameters are adapted using the recursive least-squares method. It is shown that the implementation of the parameter adaptation and the control law requires only the measurement of the joint positions, velocities, and contact force. The global convergence of the proposed adaptive control algorithm is also established. A two-link elbow direct-drive robot performing a contour-following task is simulated to demonstrate the applicability of this approach.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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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