{"id":"W4386902776","doi":"10.1109/mra.2023.3310858","title":"Synthesis, Design, and Experimental Validation of an Agile Wrist for Enhanced Grasping and Manipulation in Cluttered Environments: An Experimental Evaluation With a Challenging Pick-and-Place Task","year":2023,"lang":"en","type":"article","venue":"IEEE Robotics & Automation Magazine","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":2,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"","keywords":"Agile software development; Task (project management); SMT placement equipment; Computer science; Trajectory; Robot; Artificial intelligence; Computer vision; Wrist; Human–computer interaction; Simulation; Motion (physics); Engineering; Systems engineering; Software engineering","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0004907925,0.0001733311,0.0001937213,0.0002536298,0.0001000654,0.00005984228,0.00003987586,0.00007325751,0.000009649993],"category_scores_gemma":[0.00002545799,0.0001939551,0.00001290856,0.0001439997,0.00003086202,0.0006423421,0.00001259307,0.0000626097,0.000002736347],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000115252,"about_ca_system_score_gemma":0.000008283972,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000004075931,"about_ca_topic_score_gemma":0.000006510331,"domain_scores_codex":[0.998891,0.0001239825,0.0003300866,0.0002635985,0.0002252241,0.0001661141],"domain_scores_gemma":[0.9995815,0.00009811493,0.0001133785,0.0001239985,0.00002356972,0.00005947779],"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":[0.00002520139,0.00002700406,0.00008443459,0.00004154622,0.000009249771,3.595767e-7,0.001397395,0.673968,0.3234609,0.00002250939,0.000001999895,0.0009613847],"study_design_scores_gemma":[0.0008875999,0.0001511462,0.01031743,0.00007540029,0.00002453635,0.000003738097,0.0006049541,0.805254,0.1824964,0.00001848477,0.000001861756,0.0001643904],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.691673,0.00009209864,0.3074665,0.0000190273,0.0000495437,0.0005767484,6.989475e-7,0.0001125146,0.000009838177],"genre_scores_gemma":[0.9852344,0.00002228266,0.01437057,0.000005872756,0.00003130223,0.0001604945,0.0001238299,0.00004327749,0.000007964371],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.2935614,"threshold_uncertainty_score":0.7909259,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03672385142810874,"score_gpt":0.2866734344541836,"score_spread":0.2499495830260749,"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."}}