Towards metachronal coordination of coupled flexible filaments for terrestrial robot locomotion
Bibliographic record
Abstract
Multi-legged autonomous robots are an attractive solution for various applications ranging from health care to military and defense operations in hazardous and inaccessible environments. For a robust and reliable robot operation, it is necessary to have a terrestrial locomotion mechanism that can adapt to unstructured and uncertain workspaces. An approach for designing such a mechanism is to mimic desirable features evolved in biological organisms. Specifically of interest is the emergence of collective beating patterns in coupled arrays of flexible protrusions in various organisms, which are used for locomotion in fluid and terrestrial environments. This paper presents the formulation and simulation of a system of flexible elastic filaments coupled through a solid medium as a simplified model for the locomotion mechanism for a legged terrestrial robot. The base coupling is modeled via linear elastic lumped elements, and metachronal wave patterns are induced upon individual moment actuation. Simulation results pave the ground for future work focused on understanding how to induce sustained metachronal coordination, with the ultimate goal of designing legged robot locomotion.
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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".