On the Synthesis of Stable Walkover Gaits for the Acrobot
Bibliographic record
Abstract
We introduce a novel method of producing stable walking gaits for the acrobot using virtual holonomic constraints (VHCs). Using this method, we produce a new stable walking motion for the acrobot, the walkover gait. In this gait, the swing leg rotates counterclockwise up and over the stance leg, as opposed to the standard compass gait where the swing leg rotates clockwise and overlaps with the stance leg partway along the motion. The walkover gait is found by searching for a VHC enjoying certain properties, among them the requirement of producing a stable hybrid limit cycle corresponding to walking. Key to the proposed approach is the recently developed notion of the virtual constraint generator (VCG), a control system on the configuration manifold of the robot whose solutions are all possible VHCs up to reparametrization. A systematic procedure is presented for the synthesis of VHCs achieving the desired walking motion for the acrobot, culminating in an optimal control problem for the VCG, solved numerically to produce the gait. Theoretical characterizations are given for the feasibility of the gait generation problem.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| 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 | 0.001 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".