Adaptive backstepping control of multi-mobile manipulators handling a rigid object in coordination
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper presents an adaptive backstepping control scheme applied to a group of mobile manipulator robots transporting a rigid object in coordination. All the dynamic parameters of the robotic system, including the handled object and the mobile manipulators, are assumed to be unknown but constant. The problem of uncertain parameters is resolved by using the virtual decomposition approach (VDC). This approach was originally applied to multiple manipulator robot systems. In this paper, the VDC approach is combined with backstepping control to ensure a good position tracking. The controller developed in this work ensures that the position error in the workspace converges to zero, and that the internal force error is bounded. The global stability of the entire system is proven based on the appropriate choice of Lyapunov function using virtual stability of each subsystem, based on the principle of the virtual work. An experimental validation is carried out for two mobile manipulators moving a rigid object in order to show the effectiveness of the proposed approach.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.001 | 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