A task-level approach for the position control of macro-mini robotic systems
Bibliographic record
Abstract
This article proposes a new task level approach to control the position of macro-mini robotic systems. The proposed method combines redundancy resolution and PI compensation. Taking advantage of the redundancy resolution, this control method accounts for the differences in the dynamics of the macro robot and the mini robot during positioning tasks while ensuring that both robots respect their mechanical limits. The combination with a PI compensation improves the control performance in tracking tasks. This work also presents the adaptation of two other separate methods, namely mid-ranging control and Model Predictive Control, to macro-mini robots. A new macro-mini robot is introduced and experiments, in which the three control methods perform the same trajectories, are conducted. The control performance as well as the advantages or drawbacks of each method are compared. The general behavior of each robot component is also observed and analyzed. Finally, several practical issues and potential future work are discussed.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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".