Bibliographic record
Abstract
This paper presents an impact model of robotic manipulators subject to changing topology using the notion of linear projection operators. An oblique projection matrix is introduced in order to directly obtain: i) The acceleration of the constrained robotic system from unconstrained acceleration, ii) post-impact velocity of the robot from pre-impact velocity, and iii) impulse force during impact from pre-impact momentum. All solutions are provided in closed-form with elegant geometrical interpretations, e.g., the energy lost during contact is a quadratic function of pre-impact velocities. Moreover, the formulation seemingly works not only when the unilateral constraints remain active through a finite time interval but when changing topology occurs, i.e., unilateral constraints becomes inactive or vice versa, or even when the overall constraint jacobian becomes singular. The formulation is general enough to be applicable to robotic manipulators with chain, tree and close-loop topologies, or to handle simultaneous multiple contacts with non-identical restitution coefficients. The model is proven to be energetically consistent if a global restitution coefficient bounded between zero and one is assumed.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".