Effect of Redundant Actuation on the Mobility of Wheeled Robots on Unstructured Terrain
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
Improving the mobility of wheeled robots operating on unstructured terrain is a challenging task that can be approached in different ways. Enhanced mobility results in the vehicle being able to successfully negotiate slopes and obstacles, expanding the range of missions that can be undertaken and reducing the risk of losing or damaging the robot. This goal is directly related to optimizing the way in which traction force is developed at the wheel-terrain contact interfaces. Several strategies to achieve this objective, including traction control algorithms and reconfiguration, have been proposed in the literature. In this work, internal actuation is explored as a means to obtain better mobility on soft and irregular terrain. The use of this technique is demonstrated with a rover prototype in three maneuvers, namely flat soft terrain traverse, slope climbing on soft terrain, and negotiation of a step obstacle. Results show that redundant actuation can be used to improve the behavior of the vehicle, for optimum mobility on soft and irregular terrain.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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