{"id":"W1942323340","doi":"10.1109/robot.1990.126024","title":"The concept of dynamic isotropy and its applications to inverse kinematics and trajectory planning","year":2002,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":91,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"McGill University","keywords":"Kinematics; Trajectory; Control theory (sociology); Isotropy; Inverse dynamics; Inverse; Computer science; Stability (learning theory); Inverse kinematics; Robot manipulator; Coupling (piping); Dynamical systems theory; Mathematics; Robot; Artificial intelligence; Engineering; Control (management); Physics; Classical mechanics; Geometry","routes":{"ca_aff":true,"ca_fund":true,"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":[0.00003187696,0.00005860155,0.00007637928,0.00002254182,0.00004776126,0.00001232049,0.000046289,0.00002646699,0.00002137296],"category_scores_gemma":[0.000009513893,0.00004401873,0.00000905557,0.00005615092,0.00001729968,0.00002381136,0.00001600589,0.0000420725,0.000004286792],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000007935783,"about_ca_system_score_gemma":0.000001258233,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000001551425,"about_ca_topic_score_gemma":0.000008228134,"domain_scores_codex":[0.9996926,0.000004074092,0.0001110193,0.00006047767,0.00004746948,0.00008442679],"domain_scores_gemma":[0.999762,0.00007103149,0.00001287872,0.00009170036,0.00001216958,0.0000501967],"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":[0.000002693083,0.0000206156,0.00003273769,0.000167562,0.00005545868,0.000001640233,0.002943726,0.8220589,0.01104114,0.1464591,0.001569476,0.01564695],"study_design_scores_gemma":[0.00008794347,0.00001689977,0.00007281574,0.00001011637,0.000007759988,0.000002986193,0.000328853,0.998732,0.0001233044,0.0003108211,0.0002472978,0.00005915081],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.06608479,0.001180263,0.9284018,0.0001302496,0.0000643679,0.0003690903,0.000009619306,0.0001004011,0.003659431],"genre_scores_gemma":[0.8608386,0.0003882205,0.1376314,0.0000868078,0.00001987752,0.00004007086,0.000002548656,0.00002538536,0.0009670743],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.7947538,"threshold_uncertainty_score":0.1795032,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01512679927315463,"score_gpt":0.223691145079202,"score_spread":0.2085643458060474,"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."}}