{"id":"W1924095022","doi":"10.1109/robot.1995.525682","title":"The formulation stiffness of forward dynamics algorithms and implications for robot simulation","year":2002,"lang":"en","type":"article","venue":"","topic":"Dynamics and Control of Mechanical Systems","field":"Engineering","cited_by":11,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of British Columbia","funders":"","keywords":"Multibody system; Computer science; Stiffness; Numerical integration; Robot; Dynamics (music); Algorithm; Mathematical optimization; Artificial intelligence; Mathematics; Engineering","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":[],"consensus_categories":[],"category_scores_codex":[0.00008328684,0.00005571965,0.00008464416,0.00001666809,0.00007377212,0.00002539062,0.00005571021,0.00004068959,0.000002041673],"category_scores_gemma":[0.00001874564,0.00004034323,0.00003400499,0.00005038433,0.000006271449,0.00006216314,0.000007613221,0.00002329717,7.001977e-7],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00003225844,"about_ca_system_score_gemma":0.000001130944,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000006398416,"about_ca_topic_score_gemma":0.00006952354,"domain_scores_codex":[0.9996085,0.000003772825,0.0001849295,0.00006173965,0.00004610261,0.00009496215],"domain_scores_gemma":[0.9995628,0.0002142067,0.00003120433,0.0001094548,0.00005641258,0.00002594089],"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":[0.000003352908,0.000008031951,0.00006287514,0.00002623912,0.00002573326,8.488483e-9,0.00002046212,0.4446138,0.0005586916,0.1208238,0.00003226208,0.4338248],"study_design_scores_gemma":[0.0002541591,0.00001399225,0.002990523,0.000003882491,0.0000111615,3.333585e-7,0.00001382396,0.9902359,0.000007276358,0.005872663,0.0005443579,0.0000518899],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.008344515,0.0001476313,0.9899985,0.0004008695,0.00009481933,0.0003356206,0.00002027388,0.00005430717,0.0006034851],"genre_scores_gemma":[0.9988174,0.00003110831,0.0009108199,0.00000578337,0.00002175704,0.00004142168,0.000009679555,0.00001107523,0.000150926],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9904729,"threshold_uncertainty_score":0.1645149,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01434100784433031,"score_gpt":0.2350170025610599,"score_spread":0.2206759947167296,"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."}}