{"id":"W2140487974","doi":"10.1109/robot.1995.525448","title":"Robust adaptive control of flexible joint robots with joint torque feedback","year":2002,"lang":"en","type":"article","venue":"","topic":"Adaptive Control of Nonlinear Systems","field":"Engineering","cited_by":70,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"","keywords":"Control theory (sociology); Flexibility (engineering); Torque; Robot; Controller (irrigation); Computer science; Adaptive control; Control engineering; Lyapunov function; Stability (learning theory); Joint (building); Motion control; Lyapunov stability; Robust control; Robotics; Rotor (electric); Control system; Engineering; Control (management); Artificial intelligence; Mathematics; Nonlinear system","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001403395,0.0002905559,0.0005976527,0.0001219988,0.0000328652,0.00002197685,0.0001375739,0.0001083976,0.000903504],"category_scores_gemma":[0.00001978663,0.000228801,0.0001191895,0.0001862601,0.00007595553,0.0001922642,0.0000210996,0.0001969208,0.0002778701],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001201566,"about_ca_system_score_gemma":0.00001414423,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0000862409,"about_ca_topic_score_gemma":0.00005779428,"domain_scores_codex":[0.9985586,0.00004113836,0.0004748189,0.0002464426,0.0002966392,0.000382354],"domain_scores_gemma":[0.9991295,0.00005790976,0.0001018941,0.0003707761,0.0001927711,0.0001471786],"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":[0.0001012648,0.0001439315,0.0002586107,0.00009406207,0.0007080989,0.00004924722,0.0005380525,0.9725807,0.0102721,0.004279173,0.008556711,0.002418073],"study_design_scores_gemma":[0.003726725,0.00061451,0.003264312,0.0001957073,0.0000818512,0.00004796404,0.0006210837,0.9829978,0.006418396,0.00002078598,0.001438843,0.0005720371],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.008156884,0.0017469,0.8964831,0.0001863451,0.0003757449,0.0007887975,0.00003224628,0.0006033982,0.09162655],"genre_scores_gemma":[0.9841509,0.00001316903,0.01124783,0.00005839712,0.0002098751,0.00004116873,0.000001795661,0.00007382154,0.004202974],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9759941,"threshold_uncertainty_score":0.9892735,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0531347204224395,"score_gpt":0.1879443121543851,"score_spread":0.1348095917319456,"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."}}