The Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion
Why this work is in the frame
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Bibliographic record
Abstract
This paper describes the development of a single reduced-order dynamic model that captures running on land, running while submerged, and for the first time swimming on the surface of water. By capturing the effect of fluid forces on both the body and the leg, the Spring-Loaded Inverted Pendulum (SLIP) model is extended to operate in amphibious and aquatic regimes. Three distinct stable motion patterns, or dog-paddle type gaits are identified when swimming at the air-water interface. The model shows that, for surfaces swimming, alteration of the leg stroke frequency and length produces gaits that are either smooth and efficient or are vertically oscillatory and exhibit rapid disturbance rejection. Furthermore, when the model is examined at the physical parameter values corresponding to dogs (specifically Labrador Retrievers), the animal-based control parameters demonstrate nearly optimal performance.
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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