Jacobian Formulation for Two Classes of Cooperative Continuum Robots
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Bibliographic record
Abstract
Continuum robots (CRs) are an important class of robots inspired by the biological counterparts. Recently, a new paradigm of using multiple CRs, under cooperative continuum robots (CCRs), has been introduced to increase the performance of CRs. The motivation behind this work is to provide a detailed discussion on the concept of CCRs and a detailed description of its two different sub-configurations, including Co-manipulative and Target-assist CCRs. This paper also presents kinematic modeling and Jacobian derivation of these two sub-configurations. It has been shown that kinematics of Co-manipulative CCRs could be well estimated using the DH approach; while, for deriving kinematics of the second subconfiguration, a combination of DH approach and an exact kinematic modeling approach, using Cosserat rod theory, has to be used. The obtained Jacobians could be used for control purposes and CR-based grasp synthesis.
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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