SLIP-Based Control of Bipedal Walking Based on Two-Level Control Strategy
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
SUMMARY In this research, we propose a two-level control strategy for simultaneous gait generation and stable control of planar walking of the Assume The Robot Is A Sphere (ATRIAS) biped robot with unlocked torso, utilizing active spring-loaded inverted pendulum (ASLIP) as reference models. The upper level consists of an energy-regulating control calculated using the ASLIP model, producing reference ground reaction forces (GRFs) for the desired gait. In the lower level controller, PID force controllers for the motors ensure tracking of the reference GRFs for ATRIAS direct dynamics. Meanwhile, ATRIAS torso angle is controlled stably to make it able to follow a point mass template model. Advantages of the proposed control strategy include simplicity and efficiency. Simulation results using ATRIAS’s complete dynamic model show that the proposed two-level controller can reject initial condition disturbances while generating stable and steady walking motion.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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) | 0.001 | 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) | 0.001 | 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