Running and Steering Gait Generation Based on Double-Leg 3D-SLIP Model for Bipedal Robots
Why this work is in the frame
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Bibliographic record
Abstract
The spring-loaded inverted pendulum (SLIP) provides a bio-inspired perspective to generate stable, fast, and compliant gaits for bipedal robots. In this work, an improved decoupled control strategy was proposed to generate stable, fast, human-like, and practical 3D running and steering gaits for double-leg three-dimensional SLIP (3D-SLIP). In the sagittal plane, an approximate-SLIP- based deadbeat controller was introduced for forward velocity and running height tracking with low computational cost and a fast convergence rate. In the lateral plane, an alternating term was introduced to the footstep controller for imitating lateral swing and avoiding left and right leg collision. Simulations were conducted to verify the stability of the periodic running gait, to explore the tracking performance of the forward velocity with the proposed control strategy, and to generate agile and versatile running and steering gaits for bipedal robots.
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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) | 0.000 | 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