Design of a Self-Adaptive Robotic Leg Using a Triggered Compliant Element
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
The ability of legged robots to traverse obstacles is typically achieved using either independently actuated multiple degree-of-freedom (DOF) designs that require numerous sensors and complex control schemes, or through compliance in single-DOF legs. In this letter, a third option is explored, combining these approaches by adding a second, passively triggered mobility to a single-DOF leg mechanism. Contact of the leg with an obstacle during the swing phase activates a variation in the mechanical transmission of this leg which, through proper design, can be used to overcome this obstacle. Using the Hoeckens-Pantograph leg architecture as an example, the conditions required for overcoming colliding objects are first presented. As will be shown, they relate to the velocity of the leg endpoint along its trajectory. To obtain this velocity, the kinematics of the mechanism are determined using planar screw theory. Finally, experiments are presented showing the effectiveness of the proposed approach, keeping control simplicity while allowing for a greater robustness in the traversable terrains.
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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