{"id":"W2971761547","doi":"10.1115/1.4044540","title":"The Modeling of Redundantly Actuated Mechanical Systems","year":2019,"lang":"en","type":"article","venue":"Journal of Mechanisms and Robotics","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":11,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"Department of Education of Zhejiang Province; China Scholarship Council; Natural Science Foundation of Zhejiang Province; Natural Sciences and Engineering Research Council of Canada; National Natural Science Foundation of China","keywords":"Actuator; Control theory (sociology); Torque; Wrench; Mechanical system; Moore–Penrose pseudoinverse; Kinematics; Computer science; Screw theory; Inverse; Control engineering; Mathematics; Engineering; Mechanical engineering; Control (management); Robot; Artificial intelligence","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0007009346,0.0001549805,0.0003965272,0.00007623948,0.00007495223,0.0000654942,0.0002280271,0.000137497,0.00000622551],"category_scores_gemma":[0.00003224862,0.00009827028,0.0001080152,0.00009970432,0.00001495825,0.0001040873,0.00004489129,0.0002921971,0.000003082113],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00003294298,"about_ca_system_score_gemma":0.00003784101,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000003705075,"about_ca_topic_score_gemma":0.000001387448,"domain_scores_codex":[0.9986119,0.00003247389,0.0006929024,0.00008772869,0.0003476902,0.0002273152],"domain_scores_gemma":[0.9991639,0.0001097217,0.0002206251,0.0002029426,0.0001869959,0.0001158121],"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":[0.00001565782,0.00001031301,0.000001036776,0.00005578791,0.00006798608,0.000004881392,0.00003701154,0.8071968,0.009266527,0.1829332,0.00001981215,0.0003910125],"study_design_scores_gemma":[0.0003816642,0.0002353601,0.000001543312,0.0001357699,0.00005937466,0.0001598523,0.0003732957,0.9847974,0.0002166389,0.01349717,0.00002728601,0.0001146422],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.007945478,0.0009379978,0.9884986,0.00008417843,0.002200631,0.0001404029,0.000002320363,0.00002265591,0.0001677502],"genre_scores_gemma":[0.7454194,0.002161599,0.2521064,0.00001664703,0.0001106718,9.278198e-7,8.908657e-7,0.00005070724,0.0001327519],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.737474,"threshold_uncertainty_score":0.4007346,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.00803566304322209,"score_gpt":0.191724247468282,"score_spread":0.1836885844250599,"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."}}