An Inchworm-Snake Inspired Flexible Robotic Manipulator With Multisection SMA Actuators for Object Grasping
Why this work is in the frame
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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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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 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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