{"id":"W2288108818","doi":"10.1186/s40638-016-0033-3","title":"Single-step collision-free trajectory planning of biped climbing robots in spatial trusses","year":2016,"lang":"en","type":"article","venue":"Robotics and Biomimetics","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":15,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Alberta","funders":"National Natural Science Foundation of China-Guangdong Joint Fund; Natural Science Foundation of Guangdong Province; National Natural Science Foundation of China","keywords":"Climbing; Robot; Computer science; Motion planning; Control theory (sociology); Trajectory; Piecewise; Simulation; Mathematics; Artificial intelligence; Engineering","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":[0.0001802295,0.0002877075,0.0002633417,0.0002221584,0.0003132301,0.000182359,0.0004883596,0.000243699,0.0005839301],"category_scores_gemma":[0.0005227316,0.000244574,0.0002568839,0.0002194873,0.000310535,0.000291,0.0004049321,0.0002190033,0.0001061761],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002699165,"about_ca_system_score_gemma":0.0005787224,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.006365935,"about_ca_topic_score_gemma":0.005265216,"domain_scores_codex":[0.9999049,0.00001968422,0.000006025844,0.00002024008,0.00003710814,0.00001199679],"domain_scores_gemma":[0.9998627,0.00003881655,0.00003275958,0.00001924647,0.00003232954,0.00001415334],"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":[0.00004850844,0.00001573226,0.0006843641,0.00008065898,0.00001449274,0.0001277869,0.0001207015,0.9372871,0.01022553,0.003897803,0.0002359793,0.04726139],"study_design_scores_gemma":[0.000003368775,0.00002701944,0.0001360114,0.00000302678,0.000001868955,0.00001936656,0.00001176824,0.9977932,0.001140849,0.0006772883,0.0001832593,0.00000299941],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1063846,0.0001199576,0.891483,0.00004031436,0.000007680025,0.00003683516,0.00003029016,0.000404115,0.001493225],"genre_scores_gemma":[0.8635097,0.00008675723,0.1354446,0.00001002621,0.000002083652,0.00006631234,0.00005860879,0.00002662556,0.0007954442],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.006365935,"threshold_uncertainty_score":0.01265776,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02902380905971497,"score_gpt":0.248098723502419,"score_spread":0.219074914442704,"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."}}