Dynamic Modeling of Tendon-Driven Co-Manipulative Continuum Robots
Why this work is in the frame
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Bibliographic record
Abstract
This study presents a general framework for the dynamic analysis of tendon-driven co-manipulative continuum robots with flexible objects. Hence, the actuations of the arms have been provided by <i>bending</i>. Furthermore, the object is modeled as a flexible rod to account for the flexibility of the object into the coupled dynamics of the robot. The equations of motion are summarized based on Cosserat-rod modeling of the arms and the object to account for large deflections. A numerical solution method is developed to solve the equations of motion and to obtain the dynamic response. The numerical results are verified through the experiments. The results show that the presented algorithm has a great potential for the dynamic modeling of cooperative continuum robots. Although integration of the object flexibility increases the complexity of the model, the coupled flexibility of the arms and object has unavoidable effects on the dynamic response of the robot and should be considered for analysis and identification purposes.
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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