{"id":"W1974028959","doi":"10.1109/tro.2007.898953","title":"Controllability and Posture Control of a Wheeled Pendulum Moving on an Inclined Plane","year":2007,"lang":"en","type":"article","venue":"IEEE Transactions on Robotics","topic":"Control and Dynamics of Mobile Robots","field":"Engineering","cited_by":58,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"Imperial College London","keywords":"Controllability; Control theory (sociology); Controller (irrigation); Mobile robot; Robot; Inverted pendulum; Control engineering; Sliding mode control; Heading (navigation); Feedback linearization; Computer science; Engineering; Artificial intelligence; Mathematics; Control (management); Nonlinear system; Physics","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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002634254,0.0004457745,0.0003366332,0.0002188184,0.0003121057,0.0005891389,0.0002800766,0.0002528592,0.0009315503],"category_scores_gemma":[0.0006438924,0.0001338815,0.0003036229,0.0001197236,0.0006071771,0.000216033,0.0004787279,0.0002723093,0.0001331438],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002360237,"about_ca_system_score_gemma":0.0002922994,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.004098569,"about_ca_topic_score_gemma":0.002048772,"domain_scores_codex":[0.9998688,0.00002815446,0.000005145614,0.00002981765,0.00003593028,0.00003220763],"domain_scores_gemma":[0.9998121,0.00004226192,0.00006794484,0.00001550045,0.00004013757,0.00002210298],"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":[0.0005989753,0.000160682,0.003656724,0.0002566653,0.0001125374,0.001093709,0.0006158834,0.6667861,0.2052731,0.04592293,0.001075371,0.07444723],"study_design_scores_gemma":[0.00005194936,0.0003821796,0.001961954,0.00001111128,0.00001983559,0.00004960589,0.00004452461,0.9855795,0.005712784,0.005475086,0.0006994208,0.00001211987],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.4097567,0.0002261959,0.5812297,0.0001284036,0.00008070027,0.00005603395,0.00005897506,0.000303315,0.008159971],"genre_scores_gemma":[0.9969439,0.00004722217,0.002344992,0.000008240472,0.000008155614,0.0000214235,0.00001494718,0.000004931764,0.0006062565],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.004098569,"threshold_uncertainty_score":0.008149445,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.005530113365406785,"score_gpt":0.2136676077253257,"score_spread":0.2081374943599189,"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."}}