{"id":"W2127991665","doi":"10.1109/robot.1997.619315","title":"Robustness and performance trade-offs in torque control of robots with harmonic drive transmission","year":2002,"lang":"en","type":"article","venue":"","topic":"Iterative Learning Control Systems","field":"Engineering","cited_by":4,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"","keywords":"Robustness (evolution); Robot; Control theory (sociology); Torque; Harmonic drive; Control engineering; Automation; Modular design; Robotics; Robust control; Computer science; Engineering; Control system; Control (management); Artificial intelligence","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":true,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.00008366644,0.0001306347,0.000253519,0.00007811635,0.00002126982,0.00001438626,0.00005749877,0.00005987966,0.00006572031],"category_scores_gemma":[0.000002678965,0.00009969361,0.00001850561,0.0001146723,0.00002883334,0.0001607224,0.000002306341,0.0001524418,0.000001370245],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00003122115,"about_ca_system_score_gemma":0.000003631136,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00000986521,"about_ca_topic_score_gemma":0.00001348902,"domain_scores_codex":[0.9993583,0.00003958452,0.0001999428,0.0001235049,0.0001029782,0.0001756812],"domain_scores_gemma":[0.9997808,0.00004362669,0.00002551401,0.00009116696,0.00001394642,0.00004493579],"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":[0.0000512139,0.00002639463,0.02501455,0.0002239243,0.00004063522,0.000008642509,0.001384387,0.9452881,0.01189671,0.00007323158,0.00004847204,0.01594373],"study_design_scores_gemma":[0.002043292,0.0001399414,0.02991241,0.0001706205,0.000008698632,0.00001213846,0.00003819766,0.9654273,0.001959966,4.997249e-7,0.0001535164,0.000133415],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.8050048,0.0009678358,0.1915516,0.0001343082,0.00003732861,0.0002950284,0.000001010306,0.00008990963,0.001918225],"genre_scores_gemma":[0.9991203,0.00004604385,0.0005555997,0.00001261071,0.00001953837,0.00001879311,6.118999e-7,0.00002119357,0.0002053425],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.1941155,"threshold_uncertainty_score":0.4065387,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.006750875827507536,"score_gpt":0.1725885429742122,"score_spread":0.1658376671467047,"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."}}