{"id":"W2003241494","doi":"10.1115/imece2004-59351","title":"Programmable Compliance and Equilibrium Point Control of a 2-DOF Manipulator Performing Free-Space, Contact and Transition Tasks","year":2004,"lang":"en","type":"article","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of British Columbia","funders":"","keywords":"Actuator; Control theory (sociology); Equilibrium point; Point (geometry); Stiffness; Free space; Motion control; Computer science; Robot; Compliance (psychology); Planar; Control engineering; Control (management); Engineering; Physics; Mathematics; Artificial intelligence; Structural 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":[0.00004731864,0.00008922223,0.0001478968,0.00002714026,0.00003126313,0.0000244541,0.00004158183,0.00003780775,0.00001020569],"category_scores_gemma":[0.000003843146,0.0000858221,0.00001919547,0.00005868177,0.00002972053,0.00009840252,0.000009542054,0.00005763863,0.000001423032],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00001718157,"about_ca_system_score_gemma":0.000006228912,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001147037,"about_ca_topic_score_gemma":0.0000260223,"domain_scores_codex":[0.9995593,0.000002478921,0.0001384411,0.000105616,0.0000583171,0.0001358033],"domain_scores_gemma":[0.9997471,0.00001877737,0.00001916364,0.000130361,0.00002486754,0.00005972472],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00008677512,0.000247491,0.003531378,0.001451471,0.0002799267,0.000009217577,0.001648996,0.2433152,0.5176124,0.2231288,0.0002076068,0.008480797],"study_design_scores_gemma":[0.01022208,0.0004191283,0.02700112,0.0003702878,0.0001677727,0.0000898338,0.000599514,0.8829181,0.06036131,0.01646991,0.0006195447,0.000761361],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.773976,0.0003437305,0.2240839,0.0004806463,0.00002383111,0.0003860994,0.00001981888,0.0001223434,0.0005636506],"genre_scores_gemma":[0.9913311,0.00002161735,0.008541918,0.00002873648,0.00001695887,0.00002711598,0.000005542758,0.00001472106,0.0000122842],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.639603,"threshold_uncertainty_score":0.3499723,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01409374149188393,"score_gpt":0.2157954420167294,"score_spread":0.2017017005248454,"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."}}