An Inchworm-Snake Inspired Flexible Robotic Manipulator With Multisection SMA Actuators for Object Grasping
Bibliographic record
Abstract
Aiming at achieving the object grasping task, an inchworm-snake inspired flexible robotic manipulator (FRM) is presented in this article. By using both flexible and rigid materials in the robot structure, the FRM has the stability and control accuracy of a rigid robot as well as the compliant behavior of a soft robot. The piecewise-linear driving characteristic of the shape memory alloy (SMA) actuator enables the accurate establishment of the FRM's kinematic model and model-based control method. Deep learning-based eye-in-hand binocular visual perception is designed to obtain the state feedback without relying on external sensors, making it suitable to perform tasks in confined and unstructured environment. A model-based controller with the deformation planning is introduced with the aim of achieving accurate control in object grasping. The experiments demonstrate that the FRM possesses the capability of performing the object grasping with the proposed methods.
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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 | 0.000 |
| 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 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".