{"id":"W2169757766","doi":"10.1109/cdc.2004.1428648","title":"Low energy body design and nonlinear control of balance in a one legged robot","year":2004,"lang":"en","type":"article","venue":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":4,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Regina","funders":"","keywords":"Control theory (sociology); Feedback linearization; Nonlinear system; Linearization; Robot; Nonlinear control; Computer science; 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":[0.0001579368,0.000321428,0.0002217608,0.0001453509,0.0002109941,0.0003739339,0.0002983769,0.0002874213,0.001287883],"category_scores_gemma":[0.0002583909,0.0001750852,0.0001359283,0.00009046223,0.0004145536,0.0002341738,0.0003382389,0.0002130569,0.0002609842],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001506659,"about_ca_system_score_gemma":0.0002112995,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0008103572,"about_ca_topic_score_gemma":0.001226372,"domain_scores_codex":[0.9999429,0.00001425763,0.000002365703,0.00001078693,0.00002058765,0.000008994232],"domain_scores_gemma":[0.9999118,0.00002828725,0.00002522842,0.000006392087,0.00002164825,0.00000650711],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"bench_or_experimental","study_design_scores_codex":[0.0004029366,0.000133012,0.001093624,0.0004628124,0.00005748831,0.0003573238,0.0005078685,0.4834193,0.4032367,0.01379499,0.0009295471,0.0956043],"study_design_scores_gemma":[0.00007296865,0.0007067021,0.001019449,0.00001959339,0.00002379649,0.00008029729,0.00005391295,0.9819747,0.01123071,0.003390137,0.001414474,0.00001322611],"study_design_candidate":"bench_or_experimental","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1933802,0.0003049519,0.7976723,0.0002386713,0.00003511855,0.00005573377,0.00002390204,0.0004245552,0.007864544],"genre_scores_gemma":[0.9788058,0.0001022426,0.01881398,0.00003396533,0.00001235787,0.00004744095,0.00001609895,0.00001583001,0.002152173],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001287883,"threshold_uncertainty_score":0.004308403,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01669777022457482,"score_gpt":0.2200395104136693,"score_spread":0.2033417401890945,"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."}}