{"id":"W2957186405","doi":"10.1109/lra.2019.2928756","title":"Kinematically Redundant Hybrid Robots With Simple Singularity Conditions and Analytical Inverse Kinematic Solutions","year":2019,"lang":"en","type":"article","venue":"IEEE Robotics and Automation Letters","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":25,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Workspace; Gravitational singularity; Singularity; Simple (philosophy); Kinematics; Notation; Inverse; Robot; Mathematics; Algorithm; Pure mathematics; Computer science; Algebra over a field; Discrete mathematics; Artificial intelligence; Mathematical analysis; Geometry; Physics; Arithmetic","routes":{"ca_aff":true,"ca_fund":true,"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":[0.0001735119,0.0005636936,0.0004284042,0.0002892538,0.0002215608,0.0004767151,0.0003924967,0.0004262753,0.001130039],"category_scores_gemma":[0.0004734423,0.0002857895,0.0004281923,0.0002024263,0.0004620888,0.0003726677,0.0006303146,0.0003572035,0.0003933025],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001575213,"about_ca_system_score_gemma":0.0002825363,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0002676928,"about_ca_topic_score_gemma":0.0003095073,"domain_scores_codex":[0.9998678,0.00002020317,0.00001143886,0.00002964478,0.00005857616,0.00001231512],"domain_scores_gemma":[0.9998503,0.00003192788,0.00005327471,0.00002761861,0.0000268416,0.00001011658],"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":[0.0002124837,0.00009157877,0.00148608,0.0004664292,0.00007898763,0.001276112,0.000413836,0.5465614,0.1902073,0.1317121,0.001385809,0.1261078],"study_design_scores_gemma":[0.00005386163,0.0002804959,0.0004693782,0.00003088409,0.00003269167,0.0004492994,0.00008241484,0.9487151,0.02390078,0.02153883,0.004412919,0.00003333499],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.08972567,0.0002991881,0.8981133,0.00009214319,0.00005651314,0.00004076961,0.00004099668,0.0004044831,0.01122689],"genre_scores_gemma":[0.823826,0.0001999263,0.1723853,0.00004099149,0.00001682956,0.00009757233,0.00008435488,0.0000399241,0.003309221],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001130039,"threshold_uncertainty_score":0.003780365,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.009008155456594353,"score_gpt":0.2045204944663449,"score_spread":0.1955123390097505,"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."}}