On the Generation of Virtual Holonomic Constraints for Mechanical Systems With Underactuation Degree One
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Bibliographic record
Abstract
This paper introduces the notion of a virtual constraint generator (VCG) for underactuated mechanical systems with underactuation degree one. The VCG is a control system whose state space is the configuration manifold of the mechanical system, and whose orbits are all possible regular virtual holonomic constraints of the mechanical system. Leveraging this new tool, we propose to pose the design of virtual constraints as a suitable control specification for the VCG. We take a first step in this direction by presenting two such control designs aimed at producing virtual holonomic constraints whose associated constrained dynamics correspond to a through-motion with bounded speed and oscillatory behaviour, respectively. We apply our results to the control of an acrobot mounted on a cart, with the goal of designing constraints that make the robot "kneel" under an obstacle while traversing the real line, or oscillate back and forth under it.
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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