{"id":"W2132058110","doi":"10.1109/robot.1991.131589","title":"Robust hybrid impedance control of robot manipulators","year":2002,"lang":"en","type":"article","venue":"","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":108,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"","keywords":"Impedance control; Control theory (sociology); Subspace topology; Inertia; Electrical impedance; Computer science; Linear subspace; Acceleration; Robot; Controller (irrigation); PID controller; Trajectory; Control engineering; Engineering; Artificial intelligence; Mathematics; Control (management); Physics","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":[0.0004654861,0.0006108053,0.0004428696,0.0002997883,0.0002352442,0.0007820417,0.0005978266,0.0004292813,0.001430752],"category_scores_gemma":[0.0008112543,0.0001922106,0.0003007064,0.0002037612,0.0007418303,0.0006797095,0.001049322,0.0004079377,0.000311767],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000339021,"about_ca_system_score_gemma":0.0002509945,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001087177,"about_ca_topic_score_gemma":0.000767912,"domain_scores_codex":[0.9995627,0.00009139721,0.00002545237,0.00009500579,0.0001813542,0.00004409849],"domain_scores_gemma":[0.9997403,0.00007532658,0.00007796981,0.00002810033,0.0000609405,0.00001746617],"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":[0.000292306,0.00005412684,0.0003775848,0.000215999,0.00007462149,0.0002875331,0.0002528573,0.690954,0.07732233,0.07870109,0.001475284,0.1499923],"study_design_scores_gemma":[0.00004426217,0.0002173696,0.0002901631,0.00001018333,0.0000114077,0.00006274092,0.00001991706,0.9776719,0.004957636,0.01390767,0.002789709,0.00001692577],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01860313,0.0002149626,0.977973,0.00006829038,0.00002782718,0.00001692117,0.00001387743,0.0003436632,0.002738193],"genre_scores_gemma":[0.9388275,0.0002321199,0.05529969,0.00005238553,0.00005053169,0.00008974959,0.00005568684,0.00004301045,0.005349333],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001430752,"threshold_uncertainty_score":0.004786313,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03582853434219576,"score_gpt":0.1920765245730527,"score_spread":0.156247990230857,"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."}}