{"id":"W4224988209","doi":"10.18280/mmep.090226","title":"Kinematic and Singularity Analysis of 10 DOF Lower Body of Humanoid Robot","year":2022,"lang":"en","type":"article","venue":"Mathematical Modelling and Engineering Problems","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":2,"is_retracted":false,"has_abstract":true,"ca_institutions":"","funders":"","keywords":"Humanoid robot; Kinematics; Revolute joint; Inverse kinematics; Joint (building); Jacobian matrix and determinant; Orientation (vector space); Computer science; Control theory (sociology); Singularity; Robot; Mathematics; Simulation; Artificial intelligence; Engineering; Geometry; Physics; Structural engineering; Classical mechanics","routes":{"ca_aff":false,"ca_fund":false,"ca_venue":true,"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":[0.0002043165,0.0003904289,0.0003184325,0.0005943527,0.0002162622,0.0003921949,0.0002893186,0.0003202839,0.002030731],"category_scores_gemma":[0.0005198913,0.0001631097,0.0003670967,0.000271747,0.0004198441,0.0002265711,0.0002856636,0.0003061745,0.0003511869],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001943039,"about_ca_system_score_gemma":0.0002107783,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.002177464,"about_ca_topic_score_gemma":0.001026032,"domain_scores_codex":[0.9999021,0.00002287219,0.000005400173,0.00001910792,0.00003893063,0.00001158114],"domain_scores_gemma":[0.9998626,0.00003003466,0.00004454746,0.00001067875,0.00004165972,0.00001040325],"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":[0.0004039444,0.00007842973,0.008295994,0.0008664221,0.0001216373,0.004719832,0.001645016,0.6516276,0.1293067,0.09142314,0.002600718,0.1089106],"study_design_scores_gemma":[0.00001289093,0.0003033756,0.00895579,0.00007716245,0.00002136064,0.0008816254,0.0003212506,0.9674852,0.003474284,0.01492225,0.003503459,0.00004132564],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.3160862,0.001404095,0.6672302,0.0001337436,0.00005391997,0.00006960516,0.0001505822,0.0002042515,0.01466744],"genre_scores_gemma":[0.9750615,0.000421213,0.02094688,0.00001399415,0.00001297635,0.00003668831,0.0001105043,0.00002084971,0.003375391],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002177464,"threshold_uncertainty_score":0.006793499,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01242413543759356,"score_gpt":0.188111671805468,"score_spread":0.1756875363678744,"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."}}