Control of constrained robots subject to unilateral contacts and friction cone constraints
Why this work is in the frame
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Bibliographic record
Abstract
The projection-based control of a rather general class of robots subject to linear and quadratic inequality constraints pertinent to unilateral contacts and friction cones is presented. The controller can also take into account other physical constraints levied by actuator saturation limits and/or existence of some unactuated joints, and can minimize actuation effort for redundant systems. Moreover, since the controller is not based on derivation of minimal-order dynamics model, it can easily handle contact switching. Therefore, a single controller can be used for different constraint conditions, which is very appealing for applications such as legged robots or grasping robots. The orthogonal decomposition of the generalized force vector yields the primary and secondary control inputs, which are used for motion control and interaction control, respectively. It is shown that the problem of minimizing actuation effort subject to the constraints due to the friction cones, unilateral contacts, and actuation limitations, can be transcripted into an optimization programming in terms of the secondary control variable. The latter optimization problem has a quadratic cost function accompanied by a set of quadratic and linear inequality constraints plus linear equality constraints that can be solved by barrier methods.
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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