{"id":"W2029234750","doi":"10.1177/0278364905056347","title":"Optimization-based Robot Compliance Control: Geometric and Linear Quadratic Approaches","year":2005,"lang":"en","type":"article","venue":"The International Journal of Robotics Research","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":48,"is_retracted":false,"has_abstract":true,"ca_institutions":"Queen's University","funders":"","keywords":"Control theory (sociology); Impedance control; Controller (irrigation); Electrical impedance; Position (finance); Trajectory; Optimal control; Stiffness; Optimization problem; Engineering; Transient (computer programming); Metric (unit); Control engineering; Computer science; Control (management); Mathematics; Mathematical optimization","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":[0.001338074,0.0000874231,0.0001413108,0.0004985499,0.0001072274,0.0001558065,0.0004968742,0.00004300943,0.00006994663],"category_scores_gemma":[0.0003665895,0.00006555213,0.0000507028,0.0003449005,0.00008989569,0.0001694363,0.00003506691,0.0005627567,0.00002134431],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001270303,"about_ca_system_score_gemma":0.00005879439,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000004004604,"about_ca_topic_score_gemma":0.000004521343,"domain_scores_codex":[0.9983934,0.0001177203,0.00035181,0.00007662328,0.000877963,0.0001825285],"domain_scores_gemma":[0.998429,0.0006838805,0.00009116739,0.0001110139,0.0006034756,0.0000814572],"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":[0.0000294531,0.00002656272,0.0005450061,0.00001082684,0.00007478252,0.00000511751,0.00008316099,0.9946023,0.00005951853,0.0004090761,0.0002641433,0.003890062],"study_design_scores_gemma":[0.0006299846,0.00003654334,0.0009774097,0.00004654662,0.000008777879,0.00002640798,0.00006770367,0.9973908,0.0001166748,0.00004564159,0.0005887718,0.00006472615],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.001662554,0.000900936,0.9892016,0.007043188,0.0002199646,0.0001015469,6.884796e-7,0.00002240417,0.0008471158],"genre_scores_gemma":[0.9652177,0.0001579974,0.03392057,0.0001045332,0.0004572281,0.000002047609,0.000002723403,0.00002032136,0.0001168815],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.9635552,"threshold_uncertainty_score":0.2673138,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.2185992523762579,"score_gpt":0.3607927561600423,"score_spread":0.1421935037837845,"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."}}