Simulation of a one-legged hopping robot with phase plane stability
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents numerical simulation of a Spring-loaded Inverted Pendulum (SLIP) for analyzing the stability of robot hopping. In general, the SLIP is extensively used when the most simplified model is considered for a running animal or robot. It is because the conceptual model captures the essential hopping behavior in the sagittal plane. In the case of this paper, the conceptual model is adopted for the stability study for a robotic hopping machine. Due to the dynamical complexity of the hopping machine, the most simplified model is desired. Furthermore, the equations of motion are not integrable and analytical solutions cannot be obtained under the dynamical condition that the robot's leg is in contact with the ground. To avoid these mathematical problems, therefore, numerical simulation is performed. The phase plane and space plots of the vertical position of the SLIP are obtained using simulation results, and the stability of robot hopping is discussed in the context of the limit cycle.
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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