Geometric Recursive Dynamic Modelling and Simulation of Soft Robotic Systems
Bibliographic record
Abstract
An accurate and computationally efficient framework was developed for dynamic soft robotic systems modelled as rigid-flexible multi-body systems. A recursive parameterization-free formulation for the dynamics of multi-body systems composed of bodies serially connected with single degree of freedom actuated joints from a fixed base is expressed on the SE(3). The Newton-Euler equation of motion for a rigid body and a set of Partial Differential Equations (PDEs) for a dynamic Cosserat rod are coupled to recursively formulate the dynamics of multi-body systems. A shooting-method-based Boundary Condition (BC) solver is developed to determine the BCs and implement a finite difference solution. Geometric integrators are implemented with the geometrically exact model of the multi-body system for an accurate solutions. The recursive formulation of dynamics and application of finite difference yields a computationally efficient solution with potential for real-time application.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".