{"id":"W2581320687","doi":"10.1371/journal.pone.0170122","title":"Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model","year":2017,"lang":"en","type":"article","venue":"PLoS ONE","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":3,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Calgary","funders":"","keywords":"Inverted pendulum; Control theory (sociology); Ground reaction force; Kinematics; Underactuation; Actuator; Inverse kinematics; Inverse dynamics; Center of mass (relativistic); Physics; Gait; Computer science; Simulation; Robot; Mechanics; Classical mechanics; Artificial intelligence; Control (management)","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":[0.0002057701,0.0003609099,0.0003049742,0.0002551823,0.0002058761,0.0002339397,0.000284483,0.0002517065,0.001456689],"category_scores_gemma":[0.0004446043,0.000167942,0.0002860869,0.0001671804,0.0002804496,0.000250313,0.0003198711,0.0002325158,0.0001669239],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002031688,"about_ca_system_score_gemma":0.00036687,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.002096517,"about_ca_topic_score_gemma":0.001327559,"domain_scores_codex":[0.9999408,0.0000133022,0.00000333243,0.00001172179,0.00002279473,0.000008153579],"domain_scores_gemma":[0.9998544,0.00005121055,0.00003581256,0.00002139041,0.00002224662,0.00001492139],"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":[0.00005177652,0.0000256579,0.0005213499,0.00009581947,0.00001456667,0.0001474924,0.0000700813,0.9561802,0.01336223,0.007459973,0.000243006,0.02182787],"study_design_scores_gemma":[0.000006030748,0.00004028768,0.0001437952,0.0000035201,0.000003095223,0.00002526737,0.000007170958,0.9975361,0.0009583164,0.001029921,0.0002438398,0.000002685327],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.2726624,0.000117928,0.7202308,0.0001079834,0.00001846173,0.00005714427,0.0001239285,0.0003799856,0.006301404],"genre_scores_gemma":[0.9422335,0.00007987553,0.05601953,0.00001220003,0.000003681067,0.00005036865,0.0000979351,0.00003599205,0.001466876],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002096517,"threshold_uncertainty_score":0.004873097,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.1440797713308603,"score_gpt":0.2580147371330028,"score_spread":0.1139349658021426,"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."}}