{"id":"W2155446094","doi":"10.1109/tsmcb.2006.876818","title":"On Impact Dynamics and Contact Events for Biped Robots via Impact Effects","year":2006,"lang":"en","type":"article","venue":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":39,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Manitoba; McGill University","funders":"","keywords":"Kinematics; Slippage; Parametric statistics; Swing; Computer science; Robot; Control theory (sociology); Event (particle physics); Simulation; Contact force; Dynamics (music); Control (management); Mathematics; Engineering; Physics; Artificial intelligence; Structural engineering; Mechanical engineering; 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":[0.0001650996,0.0004539534,0.0004276995,0.0005831256,0.0003618688,0.000443002,0.0003356937,0.0004191869,0.002179689],"category_scores_gemma":[0.001374083,0.0001740428,0.0003542903,0.0004736662,0.0007780574,0.001008101,0.0006956255,0.0004517921,0.000209397],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002133214,"about_ca_system_score_gemma":0.0001627515,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001378292,"about_ca_topic_score_gemma":0.0008417856,"domain_scores_codex":[0.9998595,0.0000223995,0.000005018829,0.00002236936,0.00006831322,0.00002243935],"domain_scores_gemma":[0.9993852,0.0003251487,0.0001337306,0.00004239475,0.00007456343,0.00003877271],"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":[0.0002503149,0.0001629214,0.005123927,0.0003725513,0.00006518157,0.002038868,0.000540986,0.8289996,0.04181001,0.05809662,0.0008795687,0.06165942],"study_design_scores_gemma":[0.000006869793,0.00008101046,0.00353023,0.00001548374,0.00001316593,0.0003316937,0.00008538094,0.9737412,0.003362126,0.01779741,0.001008348,0.00002709557],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.4521287,0.002113807,0.5312194,0.000311244,0.00008238458,0.00005888794,0.0001272771,0.0002674852,0.01369071],"genre_scores_gemma":[0.9909123,0.0008088318,0.006489144,0.00002952059,0.0000323918,0.00001496981,0.00006143028,0.00002139869,0.001630077],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002179689,"threshold_uncertainty_score":0.007291734,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.005678294563105129,"score_gpt":0.2204107475263788,"score_spread":0.2147324529632737,"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."}}