Dynamic planning of redundant robots within a set-based task-priority inverse kinematics framework
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Bibliographic record
Abstract
This work presents the dynamic planning of redundant robots by merging a global and local planner. The global planner is implemented as a sampling-based algorithm which works in the reduced-dimensionality of the robot workspace applying the Cartesian constraints only. The output trajectory is then checked within a framework of set-based task priority inverse kinematics verifying the fulfillment of the other task constraints. The inverse kinematics framework is used also in real-time as local motion control to ensure a reactive behaviour to address, e.g., mismatch between the apriori information and on-line perception acquisition. During the movement, the motion planner runs in background to adapt to changes in the environment or, in general, to continuously optimize the path. The proposed method is experimentally validated with a Kinova Jaco2 7 degrees of freedom manipulator.
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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) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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