THE KINEMATICS Of MOBILE ROBOTS WITH ORIENTABLE SINGLE AND DUAL WHEELS ROLLING ON A PLANE
Bibliographic record
Abstract
The kinematics of wheeled mobile robots (WMRs) equipped with an arbitrary number of either conventional orientable wheels or dual-wheel units (DWUs) is the subject of this paper. The configuration of a robot with s such, wheels is defined by 3 + 2s variables, three for the platform configuration and two for each single wheel or dual-wheel unit. However, not all variables related to the wheel configuration are independent since, for the platform to be able to undergo an arbitrary planar motion, the wheel-unit configurations must satisfy s − 2 compatibility conditions. Therefore, the number of independent variables which defines the degree of freedom (dof) of the system is 3 + 2s − (s − 2) = s + 5. On the other hand, it is made apparent that wheeled mobile robots equipped with at least three orientable wheels have three independent generalized velocities. Hence, the mobility of these robots, which is defined as their number of independent generalized velocities, is three; in other words, they are of full mobility.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".