{"id":"W2032535106","doi":"10.1177/0278364904041563","title":"A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design","year":2004,"lang":"en","type":"article","venue":"The International Journal of Robotics Research","topic":"Teleoperation and Haptic Systems","field":"Engineering","cited_by":37,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Waterloo","funders":"","keywords":"Teleoperation; Control theory (sociology); Transparency (behavior); Controller (irrigation); Position (finance); Torque; Robot; Stability (learning theory); Computer science; Telerobotics; Control engineering; Engineering; Simulation; Control (management); Mobile robot; Artificial intelligence","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":[0.0004316173,0.0003737953,0.000254225,0.0002136285,0.0002495721,0.0004941146,0.0006444876,0.0004994465,0.001699343],"category_scores_gemma":[0.0008167887,0.0001189483,0.0002298567,0.0001527273,0.0005075253,0.000498086,0.0004305799,0.0005425223,0.0002067189],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003578153,"about_ca_system_score_gemma":0.0003595885,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001294588,"about_ca_topic_score_gemma":0.0009100981,"domain_scores_codex":[0.9997842,0.00003381779,0.00001210088,0.00003230333,0.0001197575,0.00001776815],"domain_scores_gemma":[0.9997075,0.00009971194,0.00004923245,0.00003755408,0.00009188698,0.00001413864],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0004895349,0.0002322513,0.0005706626,0.0003973425,0.00005887995,0.0002849954,0.0007087095,0.2779166,0.2621158,0.05161625,0.001828003,0.4037809],"study_design_scores_gemma":[0.00004880186,0.0003118856,0.0003782301,0.00001268689,0.00001420558,0.0001214836,0.00002763708,0.9738409,0.01890669,0.004619485,0.001697112,0.00002084362],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01852938,0.0001318845,0.9788275,0.00006843032,0.00002723352,0.00006824172,0.000008446379,0.0002252844,0.002113736],"genre_scores_gemma":[0.9190093,0.0001505703,0.07902049,0.00003591767,0.00002388009,0.0001441182,0.00001576211,0.00002014779,0.001579811],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001699343,"threshold_uncertainty_score":0.005684912,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.08141390458081729,"score_gpt":0.3464615863466937,"score_spread":0.2650476817658765,"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."}}