Running and Steering Gait Generation Based on Double-Leg 3D-SLIP Model for Bipedal Robots
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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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".