{"id":"W3091663946","doi":"10.1109/icra40945.2020.9196836","title":"Time Optimal Motion Planning with ZMP Stability Constraint for Timber Manipulation","year":2020,"lang":"en","type":"article","venue":"","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":16,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"","keywords":"Constraint (computer-aided design); Computer science; Motion planning; Stability (learning theory); Motion (physics); Control theory (sociology); Artificial intelligence; Robot; Engineering; 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":[0.0001482401,0.0004607666,0.0004044824,0.0002431046,0.0003209273,0.0002463106,0.0003105048,0.0002892331,0.001421937],"category_scores_gemma":[0.0005258394,0.000243947,0.000229568,0.0002732028,0.0003701644,0.0003027984,0.0003409115,0.0003351273,0.0001990967],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003356847,"about_ca_system_score_gemma":0.0007840467,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.005340261,"about_ca_topic_score_gemma":0.004453969,"domain_scores_codex":[0.9999064,0.00001814969,0.000003380256,0.00002126626,0.00004075285,0.00001002439],"domain_scores_gemma":[0.9998963,0.00005337999,0.00002092721,0.000007966374,0.00001551634,0.000005845503],"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":[0.00004316938,0.00001346224,0.0001264564,0.00004665347,0.000008886698,0.00004591222,0.00004423747,0.9475992,0.006555791,0.006971715,0.0003494753,0.03819494],"study_design_scores_gemma":[0.000007276125,0.00002188658,0.00007227124,0.000002885476,0.000002143766,0.00001125293,0.000004707736,0.9969696,0.0007330498,0.001668296,0.0005041772,0.000002470944],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.0122387,0.00008772506,0.9857703,0.00003623797,0.00001033829,0.0000251347,0.0000168949,0.0001743701,0.001640136],"genre_scores_gemma":[0.6763942,0.0002260516,0.3204137,0.00003324257,0.00001771091,0.0001936513,0.00008303382,0.00005864974,0.002579681],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.005340261,"threshold_uncertainty_score":0.01061833,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.06367583330497567,"score_gpt":0.26371737253901,"score_spread":0.2000415392340343,"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."}}