{"id":"W4414858420","doi":"10.36227/techrxiv.175977930.09392297/v1","title":"Error-State Model Predictive Path Integral Control of Tendon-Driven Continuum Robots using Cosserat Rod Dynamics with Strain Parametrization","year":2025,"lang":"en","type":"article","venue":"","topic":"Dynamics and Control of Mechanical Systems","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Western University","funders":"National Institutes of Health; Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs","keywords":"Control theory (sociology); Model predictive control; Trajectory; Weighting; Nonlinear system; Position (finance); Controller (irrigation); Robot; Parametrization (atmospheric modeling)","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0005418285,0.0006606445,0.0005177149,0.0002429837,0.000328667,0.0006428987,0.0008422033,0.0005044662,0.00087353],"category_scores_gemma":[0.0008369456,0.0003035601,0.0003747253,0.0002798802,0.0006600718,0.0004575191,0.0007243959,0.0007643733,0.0001679937],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0005322014,"about_ca_system_score_gemma":0.0008155043,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.006948578,"about_ca_topic_score_gemma":0.003895915,"domain_scores_codex":[0.999777,0.00004127322,0.000008778034,0.00004739531,0.0001024376,0.00002299245],"domain_scores_gemma":[0.9996328,0.0001473847,0.00008405926,0.00003431266,0.00008374256,0.00001762415],"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":[0.00003311974,0.00001818596,0.000159625,0.00003336044,0.00001087374,0.0000397722,0.00004194784,0.9749783,0.002753318,0.003505237,0.0002182362,0.01820802],"study_design_scores_gemma":[0.000002862638,0.00001738068,0.00002941148,0.000001435206,0.000001412078,0.000003505636,0.000001592741,0.9991159,0.0003320731,0.0003298996,0.0001629428,0.000001658289],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01850922,0.0001321718,0.978404,0.0000865757,0.00003295684,0.0000228224,0.00001820733,0.0003492719,0.002444793],"genre_scores_gemma":[0.9267518,0.0001404435,0.07055928,0.00004219284,0.00002085767,0.000106382,0.00005637342,0.0000411793,0.002281522],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.006948578,"threshold_uncertainty_score":0.0138163,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.005960214506855849,"score_gpt":0.2064127591579182,"score_spread":0.2004525446510623,"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."}}