{"id":"W4416750914","doi":"10.1109/iros60139.2025.11247518","title":"Toward Dynamic Control of Tendon-driven Continuum Robots using Clarke Transform","year":2025,"lang":"","type":"article","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Control theory (sociology); Constant curvature; Trajectory; Robot; Piecewise; Controller (irrigation); Manifold (fluid mechanics); Stiffness; Curvature","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":[0.0004647253,0.0005252158,0.0004573342,0.0003196208,0.000218653,0.0005761127,0.0008483721,0.0005913425,0.001184648],"category_scores_gemma":[0.0007690939,0.000309877,0.0004680969,0.0002344624,0.0009095272,0.000669147,0.001108632,0.000831697,0.0003294563],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000383843,"about_ca_system_score_gemma":0.0005823639,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001045583,"about_ca_topic_score_gemma":0.0007393552,"domain_scores_codex":[0.9997234,0.00007593998,0.0000098483,0.00004928124,0.0001225056,0.00001898071],"domain_scores_gemma":[0.9996715,0.000121675,0.00008298615,0.0000356406,0.00006939679,0.00001899105],"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":[0.00004456793,0.00003531327,0.0002682576,0.0001008527,0.0000212712,0.0001278536,0.000148808,0.8231092,0.02376123,0.1283873,0.0004822443,0.0235131],"study_design_scores_gemma":[0.000004973613,0.00005079984,0.0000294377,0.00000588901,0.000001902395,0.00002041335,0.000008380339,0.9904035,0.001129691,0.007284549,0.00105512,0.000005321663],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.005897301,0.00005342115,0.992753,0.00005375404,0.0000122549,0.000009050603,0.000005852231,0.00007705318,0.00113834],"genre_scores_gemma":[0.7530305,0.0004239568,0.240774,0.0001316821,0.00003941398,0.0001657665,0.00005847634,0.00008418401,0.005292082],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001184648,"threshold_uncertainty_score":0.003962994,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01229777363048073,"score_gpt":0.2531844802325139,"score_spread":0.2408867066020332,"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."}}