Parametrically Excited Dynamic Walking Control of Telescopic Legged Robots
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Bibliographic record
Abstract
It is clarified throughout studies of passive dynamic walking mechanisms that the common necessary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we considers a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation phenomenon using telescopic leg actuation. We first introduce a simple biped walking model and a control law for telescopic leg motion, and analyze the typical walking pattern with respect to the change of control and physical parameters by numerical simulations. We then numerically analyze the energy efficiency in the presence of an elastic element by introducing criterions, and show that suitable adjustment of mechanical impedance dramatically increases the energy efficiency. Further, some extensions of the mechanism and control applications are investigated.
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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) | 0.001 | 0.001 |
| 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