Development and multiple mode control of modular and reconfigurable robot
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
There is a strong desire for robots to manipulate in uncontrolled environments. In uncontrolled environments, the robot has to adapt to the world consisting of only partially known or unknown objects and tasks, and real-time constraints. The capability of robots working in active or passive modes and switching between them helps enabling the robots to work in unstructured environments. Joint torque sensing is essential for implementing multiple mode control of robots. Though there have been a number of means of joint torque sensing, the existing joint sensing techniques have diverse limitations, such as in installation, reliability, cost, and noise immunity. This dissertation work develops a new joint torque sensing method for a modular and reconfigurable robot (MRR) with harmonic drive joints and provides solutions to multiple mode control of MRR based on the proposed sensing technique. This research consists of two main parts. In the first part, a novel mathematical model for compliance of harmonic drives has been proposed. The proposed model captures not only the nonlinear stiffness but also the hysteresis phenomenon of harmonic drive transmission. Based on the developed harmonic drive compliance model, a joint torque estimation method using position measurements is developed. Torque estimation using position measurements provides an advantage of noise immunity to the estimated joint torque. Using the compliance of harmonic drives instead of an additional elastic component does not change the joint dynamics. Building upon the new torque estimation technique, a multiple working mode control algorithm for MRR is developed and experimentally validated. The objective of the second part is to make the wrist suitable for dexterous manipulation in unstructured environments, such as door opening. A robust adaptive controller is developed for tracking control of the wrist in active mode; and a new interactive force compensation technique is proposed based on force sensor measurement, enabling passive working mode of the compact wrist without using mechanical solutions, which not only saves weight and volume, but also avoids losing tracking of the joints’ position when switching from passive mode to active mode. Experiments on a prototype wrist have demonstrated the effectiveness of the proposed method.
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 | 0.000 | 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