{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T15:43:34Z","timestamp":1781279014791,"version":"3.54.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2004,11,15]],"date-time":"2004-11-15T00:00:00Z","timestamp":1100476800000},"content-version":"unspecified","delay-in-days":14,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2004,11]]},"abstract":"<jats:p>The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.<\/jats:p>","DOI":"10.1017\/s0263574704000293","type":"journal-article","created":{"date-parts":[[2004,11,15]],"date-time":"2004-11-15T07:22:24Z","timestamp":1100503344000},"page":"623-632","source":"Crossref","is-referenced-by-count":13,"title":["Autonomous motion of a mobile manipulator using a combined torque and velocity control"],"prefix":"10.1017","volume":"22","author":[{"given":"Damir","family":"Omr\u010den","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Leon","family":"\u017dlajpah","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bojan","family":"Nemec","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2004,11,15]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574704000293","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,6]],"date-time":"2019-05-06T16:02:04Z","timestamp":1557158524000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574704000293\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2004,11]]}},"alternative-id":["S0263574704000293"],"URL":"https:\/\/doi.org\/10.1017\/s0263574704000293","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,11]]}}}