{"id":"W1649668171","doi":"10.1109/cdc.1995.478567","title":"Adaptive compliant motion control of kinematically redundant manipulators","year":2002,"lang":"en","type":"article","venue":"","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Concordia University","funders":"","keywords":"Impedance control; Redundancy (engineering); Control theory (sociology); Cartesian coordinate system; Adaptive control; Computer science; Trajectory; Kinematics; Motion control; Scheme (mathematics); Tracking (education); Serial manipulator; Position (finance); Control engineering; Robot; Control (management); Engineering; Mathematics; Artificial intelligence; Parallel manipulator","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":["insufficient_payload"],"consensus_categories":[],"category_scores_codex":[0.00005775647,0.00008426684,0.0001527459,0.00006130214,0.00002329857,0.00000980508,0.00005324095,0.00003855503,0.001759821],"category_scores_gemma":[0.00001633661,0.00007592444,0.00004559685,0.00008950099,0.00001739251,0.00006614091,0.000005453144,0.00008214636,0.0001741554],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00002081758,"about_ca_system_score_gemma":8.619525e-7,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000006449013,"about_ca_topic_score_gemma":0.000002254667,"domain_scores_codex":[0.9994298,0.00001854892,0.0002385211,0.00007540505,0.0001200196,0.0001177169],"domain_scores_gemma":[0.9997494,0.00003244344,0.00003035176,0.0001101741,0.00003168006,0.00004599952],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000003408643,0.00002436706,0.0005451794,0.00003958945,0.00003580998,0.000002299593,0.0001777347,0.9768261,0.002167162,0.01729677,0.0006262516,0.002255273],"study_design_scores_gemma":[0.0003101358,0.00002477852,0.009749677,0.00002184244,0.00001031409,0.000003936857,0.00006027843,0.9892443,0.000253247,0.00009034944,0.0001453256,0.0000858511],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01184496,0.00007146689,0.9408012,0.00008168799,0.0001151882,0.0001423533,4.18616e-7,0.0002456129,0.04669714],"genre_scores_gemma":[0.9969798,0.0000043262,0.002598456,0.00003041151,0.00002517926,0.000003126423,0.000001438816,0.00001597204,0.0003412532],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9851349,"threshold_uncertainty_score":0.9991527,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03646719165687165,"score_gpt":0.2095356885350996,"score_spread":0.173068496878228,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}