{"id":"W2080475666","doi":"10.1109/tsmca.2011.2169246","title":"Stabilization of Periodic Orbits for Planar Walking With Noninstantaneous Double-Support Phase","year":2011,"lang":"en","type":"article","venue":"IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":20,"is_retracted":false,"has_abstract":true,"ca_institutions":"Simon Fraser University; University of British Columbia","funders":"","keywords":"Control theory (sociology); STRIDE; Invariant (physics); Planar; Parameterized complexity; Orbit (dynamics); Computer science; Minimum phase; Trajectory; Exponential stability; Norm (philosophy); Hybrid system; Phase (matter); Mathematics; Control (management); Physics; Algorithm; Law; Engineering; Nonlinear system; 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":[0.0001070334,0.0002396325,0.0001924692,0.0001520757,0.0001575459,0.0001802004,0.0002789749,0.0001783004,0.0006426026],"category_scores_gemma":[0.0002654304,0.0000879192,0.0002273423,0.00007794153,0.0002744748,0.0001797842,0.0004250659,0.000176433,0.00008159577],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001141583,"about_ca_system_score_gemma":0.000161143,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0005584233,"about_ca_topic_score_gemma":0.0006305084,"domain_scores_codex":[0.9999515,0.000008468135,0.000002896793,0.00001117675,0.00002000975,0.000006042688],"domain_scores_gemma":[0.9999235,0.00002158128,0.00002566336,0.00001067134,0.00001216237,0.000006455592],"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":[0.0001833225,0.00005675514,0.001572654,0.000241497,0.00004833855,0.0004296973,0.0003226225,0.7160524,0.1493109,0.03708283,0.0005503329,0.09414861],"study_design_scores_gemma":[0.00001106239,0.0001136526,0.0003634295,0.000005234764,0.000005909208,0.00004783768,0.00001590834,0.9929022,0.003483892,0.002429083,0.0006172588,0.000004470819],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1549185,0.0001022033,0.8422743,0.00004370498,0.00001708656,0.00002207844,0.00001459168,0.0001646781,0.002442937],"genre_scores_gemma":[0.9779134,0.00004688429,0.02136197,0.000007470175,0.00000473946,0.00002892909,0.00001692625,0.000005627222,0.0006139482],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.0006426026,"threshold_uncertainty_score":0.002149701,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03068332734962083,"score_gpt":0.2253004790798732,"score_spread":0.1946171517302524,"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."}}