{"id":"W4320002987","doi":"10.18280/mmep.090635","title":"Mathematical Modeling and Control Architecture of the Autonomous Lower Body of a Humanoid Robot","year":2022,"lang":"en","type":"article","venue":"Mathematical Modelling and Engineering Problems","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"","funders":"","keywords":"Humanoid robot; Controller (irrigation); Control theory (sociology); Trajectory; Control engineering; Computer science; Robotics; Robot; Computation; Nonlinear system; Central pattern generator; Robot control; Simulation; Engineering; Artificial intelligence; Control (management); Mobile robot; Algorithm","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002865112,0.0001871621,0.0003991397,0.00007348552,0.00008016529,0.00001871527,0.0001550648,0.00005535396,0.00005579522],"category_scores_gemma":[0.00002011817,0.0001447557,0.00009182323,0.0001022856,0.00004495761,0.00003238454,0.0000765193,0.0003174215,0.000001231467],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00002083754,"about_ca_system_score_gemma":0.00001018165,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00000213162,"about_ca_topic_score_gemma":6.434854e-8,"domain_scores_codex":[0.9989106,0.00002271923,0.0004610943,0.000153774,0.0002225248,0.0002292644],"domain_scores_gemma":[0.9995126,0.0001099204,0.00004565953,0.0002377589,0.00002194995,0.00007215112],"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":[0.000006047325,0.00005071233,0.000001522106,0.0008477079,0.00005391252,5.86808e-7,0.0005319305,0.986711,0.002695949,0.008946313,0.000001820843,0.000152551],"study_design_scores_gemma":[0.0004498628,0.00005555918,0.0000017748,0.0001443645,0.00005393641,0.00002658849,0.00002527183,0.9843063,0.0001326717,0.0146346,0.00002477104,0.0001442607],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.06447252,0.0003947011,0.9342843,0.00007705567,0.00005461648,0.0003050256,0.000006523685,0.0001105962,0.0002946798],"genre_scores_gemma":[0.9907637,0.00001002759,0.009033146,0.000009208106,0.00001604863,0.00006739033,5.536145e-7,0.00004075002,0.00005921638],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9262912,"threshold_uncertainty_score":0.5902966,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.009205249018257153,"score_gpt":0.1716000330517677,"score_spread":0.1623947840335105,"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."}}