A SLIP MODEL FOR THE SPHERICAL ACTUATION OF THE ATLAS MOTION PLATFORM
Why this work is in the frame
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Bibliographic record
Abstract
The Atlas platform represents a novel six degree-of-freedom motion platform architecture. Orienting is decoupled from positioning, and unlimited rotations are possible about every axis. The decoupling is accomplished by fixing a three degree-of-freedom spherical orienting device, called the Atlas sphere, on a gantry with three orthogonal linear axes. The key to the design is three omni-directional wheels in an equilateral arrangement, which impart angular displacement to a sphere, providing rotational actuation. The free-spinning castor rollers provide virtually friction-free motion parallel to each omni-wheel rotation axis creating the potential for unconstrained angular motion. Since the sphere directly contacts the omni-wheels, there are no joints or links interfering with its motion, allowing full 360° motion about all axes. However, the kinematic constraints are non-holonomic. This paper explores the slip at the interface between each omni-wheel and the Atlas sphere. A kinematic slip model is presented, introducing the slip ratio, which is the ratio of the k th omni-wheel’s transverse velocity component, S⊥ k , which is perpendicular to the free-spinning castor wheel axis, and the tangential velocity component, S tank , which is perpendicular to the omni-wheel driving axis, parallel to the tangential velocity vector, V k . The long-term goal is to incorporate the slip model into a control law for position level control of the sphere. Two illustrative examples are given.
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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 | 0.001 |
| 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