{"id":"W2805268700","doi":"10.1016/j.mechatronics.2018.05.005","title":"Optimal adaptive Jacobian internal forces controller for multiple whole-limb manipulators in the presence of kinematic uncertainties","year":2018,"lang":"en","type":"article","venue":"Mechatronics","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":7,"is_retracted":false,"has_abstract":false,"ca_institutions":"Concordia University; Western University","funders":"Iran National Science Foundation","keywords":"Kinematics; Jacobian matrix and determinant; Control theory (sociology); Contact force; Controller (irrigation); Control engineering; Robot end effector; Computer science; Power (physics); Engineering; Robot; Control (management); Mathematics; Artificial intelligence; 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":[0.0004069444,0.0007099221,0.0005868644,0.0002734223,0.0004299882,0.0006163809,0.0007242171,0.0006678788,0.001372736],"category_scores_gemma":[0.0006649604,0.0002976671,0.000289536,0.0002290441,0.0004460062,0.0003981994,0.0006124702,0.0005688401,0.0002396894],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0004226066,"about_ca_system_score_gemma":0.0006170236,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.005529414,"about_ca_topic_score_gemma":0.006247423,"domain_scores_codex":[0.9998185,0.00002083203,0.00001034711,0.00004916692,0.00006975571,0.00003137182],"domain_scores_gemma":[0.9997475,0.00006182757,0.00007078865,0.00002067006,0.0000817984,0.00001753178],"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":[0.0003853494,0.000145457,0.0007557752,0.0002518399,0.00009273751,0.0003750436,0.0002573231,0.8251567,0.04797863,0.006519702,0.001351228,0.1167303],"study_design_scores_gemma":[0.00003225777,0.0001300307,0.0005123292,0.000007467009,0.00001205311,0.00002839716,0.00001225703,0.9965894,0.001629333,0.0006465499,0.0003930689,0.000006841665],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1210812,0.0004817802,0.8711398,0.0001891104,0.0001381589,0.00006251277,0.00003711991,0.0003892529,0.006481145],"genre_scores_gemma":[0.9788588,0.0001019466,0.0181936,0.00002790625,0.00002662985,0.00004559266,0.00002412771,0.00001476406,0.002706671],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.005529414,"threshold_uncertainty_score":0.01099443,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02459615833054744,"score_gpt":0.2479230786179102,"score_spread":0.2233269202873627,"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."}}