{"id":"W2103197022","doi":"10.1109/ccece.1995.528141","title":"Model predictive control for impact-contact motion of a manipulator","year":2002,"lang":"en","type":"article","venue":"","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":1,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Ottawa","funders":"","keywords":"Model predictive control; Control theory (sociology); Nonlinear system; Nonlinear model; Slip (aerodynamics); Robot; Computer science; Motion control; Motion (physics); Control engineering; Nonlinear dynamical systems; Contact force; Control (management); Engineering; Physics; Artificial intelligence; Classical mechanics","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":[0.0002127654,0.0003742813,0.0003098138,0.0001406072,0.0002709727,0.0003378928,0.0004916888,0.0003290426,0.0008932955],"category_scores_gemma":[0.0005660296,0.0001383114,0.0001627803,0.0001651807,0.0004132186,0.0002721523,0.0003189648,0.0004813649,0.0001702038],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002842804,"about_ca_system_score_gemma":0.0003663723,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.003401065,"about_ca_topic_score_gemma":0.003739354,"domain_scores_codex":[0.9999087,0.00001606828,0.000003374736,0.00001587877,0.00004332299,0.00001280173],"domain_scores_gemma":[0.9998717,0.00004747386,0.00002985177,0.00001356492,0.00002976379,0.000007641956],"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":[0.0001010856,0.00005599722,0.0004652036,0.0001264543,0.00002366418,0.0001895361,0.00009155817,0.9037783,0.01714043,0.008912263,0.0008015748,0.06831397],"study_design_scores_gemma":[0.00001130591,0.00006923127,0.0002097261,0.000003927488,0.000004968249,0.00001354075,0.000005097877,0.9963497,0.00153433,0.001276925,0.0005176104,0.000003562709],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.07570627,0.0005772076,0.9173719,0.0002444214,0.00007104919,0.00004143855,0.00002476234,0.000742913,0.005220184],"genre_scores_gemma":[0.9819081,0.0002534375,0.01600284,0.00003073825,0.00002151468,0.00004536524,0.00002801313,0.000009288289,0.001700613],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003401065,"threshold_uncertainty_score":0.006762564,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03555122883793741,"score_gpt":0.2425565343500894,"score_spread":0.207005305512152,"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."}}