{"id":"W3120603282","doi":"10.1109/icarcv50220.2020.9305495","title":"Control of A 2R Planar Horizontal Underactuated Manipulator","year":2020,"lang":"en","type":"article","venue":"","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":2,"is_retracted":false,"has_abstract":true,"ca_institutions":"","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Control theory (sociology); Trajectory; Robustness (evolution); Feed forward; Computer science; Underactuation; Nonlinear system; Controller (irrigation); Position (finance); Planar; Robot; Nonlinear control; Trajectory optimization; Control engineering; Optimal control; Control (management); Mathematics; Engineering; Mathematical optimization; Artificial intelligence","routes":{"ca_aff":false,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":true},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002460606,0.0005039597,0.0003514686,0.0002108471,0.0004015099,0.0003367767,0.0005215585,0.0003452038,0.001213924],"category_scores_gemma":[0.0002187667,0.0002189279,0.0002524586,0.0001660668,0.0005882619,0.0002831084,0.0006630004,0.0003066545,0.0001817509],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002735704,"about_ca_system_score_gemma":0.0005830809,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.002147821,"about_ca_topic_score_gemma":0.002234109,"domain_scores_codex":[0.9998478,0.0000209414,0.000006377831,0.00004105222,0.00006629672,0.00001745689],"domain_scores_gemma":[0.9999093,0.00002328802,0.0000333363,0.000009766171,0.00001603872,0.000008168615],"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":[0.0001606259,0.0000427878,0.0006281678,0.0003732502,0.00006324621,0.0006356151,0.0003866564,0.5723725,0.191811,0.02480972,0.001591242,0.2071252],"study_design_scores_gemma":[0.0000432819,0.0003836804,0.0006315615,0.00001742868,0.00001621809,0.0001629861,0.00003794044,0.9811347,0.00977557,0.002099045,0.005674903,0.00002267105],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.05512444,0.0002413236,0.9377454,0.000125841,0.00006863465,0.0000536073,0.00004237889,0.0005146117,0.006083843],"genre_scores_gemma":[0.8720632,0.0003022092,0.1207517,0.0000660519,0.00006389295,0.0001460147,0.00006339893,0.00002875418,0.00651462],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002147821,"threshold_uncertainty_score":0.004270613,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0126911817345558,"score_gpt":0.1797838971453311,"score_spread":0.1670927154107752,"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."}}