Multi-axis Reorientation of a Free-falling Omnidirectional Wheeled Robot
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents reorientation manoeuvres applied to an omnidirectional wheeled robot for impact mitigation during short falls. The proposed robot architecture aims to build upon recent innovations in reorientation robots to attain fast, multi-axis reorientation. Indeed, the use of omnidirectional wheels allows for simplifications to be made with respect to previous mobile robot architectures that make the proposed architecture more efficient for free fall reorientation, while still maintaining free roaming capabilities. To test these improvements, a prototype is built and a free roam and two free fall demonstrations are completed. On the one hand, the free roam demonstration validates that translation along both horizontal axes and rotation about the yaw axis are achieved with the presented prototype. On the other hand, the first free fall demonstration shows that a worst case scenario of a 180-degree reorientation about one axis can be completed in just under 0.45 seconds (one-metre fall) and the second free fall demonstration validates that the prototype is capable of simultaneous reorientation about both the roll and pitch axes. Therefore, the fast, multi-axis reorientation capabilities of the developed prototype are verified.
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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) | 0.001 | 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