{"id":"W4390145701","doi":"10.1016/j.isatra.2023.12.026","title":"Walking position commanded NAO robot using nonlinear disturbance observer-based fixed-time terminal sliding mode","year":2023,"lang":"en","type":"article","venue":"ISA Transactions","topic":"Robotic Locomotion and Control","field":"Engineering","cited_by":15,"is_retracted":false,"has_abstract":false,"ca_institutions":"Université du Québec en Abitibi-Témiscamingue; École de Technologie Supérieure","funders":"","keywords":"Control theory (sociology); Humanoid robot; Robustness (evolution); Sliding mode control; Nonlinear system; Lyapunov stability; Robot; Terminal sliding mode; Computer science; Controller (irrigation); Engineering; Control engineering; Artificial intelligence; 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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.00009373957,0.0001875909,0.0002074196,0.0001488282,0.0003085532,0.00007562496,0.0001217516,0.000093872,0.0001653816],"category_scores_gemma":[0.000004530933,0.0002105872,0.0001567142,0.0004215011,0.00002109991,0.0002404233,0.000002969844,0.0002248899,0.0001339327],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001520499,"about_ca_system_score_gemma":0.00002598089,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00004608251,"about_ca_topic_score_gemma":0.00003676248,"domain_scores_codex":[0.9990025,0.00004046991,0.0002580426,0.0001919224,0.0001815279,0.0003255827],"domain_scores_gemma":[0.9995502,0.0000753214,0.00002963376,0.0002181872,0.00003485032,0.00009179572],"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":[0.00001167937,0.00003860959,0.00003292034,0.00004870955,0.00004297145,0.00001769462,0.0001993541,0.9520541,0.04351817,0.00001500768,0.00006391125,0.003956902],"study_design_scores_gemma":[0.0006758574,0.00001688247,0.0009612717,0.00009940684,0.00007905767,0.00001649937,0.00004549031,0.9920893,0.005498517,0.0000396191,0.0002481738,0.0002298838],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1275079,0.00003335525,0.8701119,0.0002448178,0.0005064395,0.0002075562,0.00005091576,0.001074388,0.0002627471],"genre_scores_gemma":[0.9930615,0.000009018575,0.006323508,0.00006322432,0.0001125051,0.00003076644,0.00006888124,0.00004955709,0.0002810108],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8655536,"threshold_uncertainty_score":0.8587496,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02035627715030183,"score_gpt":0.2468676942834264,"score_spread":0.2265114171331246,"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."}}