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The stable support condition for a mobile robot is constructed not only in a polygonal support region, but also in a polyhedral support region. For a planar supporting region, the tip-over avoiding requirement is formulated as the tip-over prevent constraints with the reciprocal products of the resultant support wrench and the imaginary tip-over twists, which are constructed with the boundaries of the convex support polygon. At velocity level, the optimized resolution algorithm with standard QP form is designed to resolve the inverse redundant kinematics of the Omni-directional Mobile ManipulatorS (OMMS) with stability considerations. Numerical simulation results show that the presented methods successfully improve the stability level of the robot within an on-line planning process.<\/jats:p>","DOI":"10.1017\/s0263574708004803","type":"journal-article","created":{"date-parts":[[2008,7,9]],"date-time":"2008-07-09T08:28:44Z","timestamp":1215592124000},"page":"389-402","source":"Crossref","is-referenced-by-count":1,"title":["Improving the stability level for on-line planning of mobile manipulators"],"prefix":"10.1017","volume":"27","author":[{"given":"Changwu","family":"Qiu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qixin","family":"Cao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leibin","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shouhong","family":"Miao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,5,1]]},"reference":[{"key":"S0263574708004803_ref10","first-page":"1563","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robot and Systems","author":"Li","year":"2005"},{"doi-asserted-by":"publisher","key":"S0263574708004803_ref16","DOI":"10.1163\/156855399X00982"},{"unstructured":"11. Wieber P. B. , \u201cOn the Stability of Walking Systems,\u201d Proceedings of the 3rd Workshop on Humanoid and Human Friendly Robots, Tsukuba (Dec. 2002).","key":"S0263574708004803_ref11"},{"volume-title":"A mathematical introduction to robot manipulation","year":"1993","author":"Murray","key":"S0263574708004803_ref12"},{"doi-asserted-by":"publisher","key":"S0263574708004803_ref6","DOI":"10.1017\/S0263574701003356"},{"doi-asserted-by":"crossref","unstructured":"7. Huang Q. , Sugano S. and Tanie K. , \u201cMotion Planning for a Mobile Manipulator Considering Stability and Task Constraints,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (May 1998) pp. 2192\u20132198.","key":"S0263574708004803_ref7","DOI":"10.1109\/ROBOT.1998.680649"},{"doi-asserted-by":"publisher","key":"S0263574708004803_ref1","DOI":"10.1017\/S0263574702004502"},{"doi-asserted-by":"crossref","unstructured":"5. Rey D. A. and Papadopoulos E. G. , \u201cOn-Line Automatic Tip-over Prevention for Mobile Manipulators,\u201d Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Grenoble, France (Sep. 1997) pp. 1273\u20131278.","key":"S0263574708004803_ref5","DOI":"10.1109\/IROS.1997.656414"},{"doi-asserted-by":"publisher","key":"S0263574708004803_ref2","DOI":"10.1017\/S0263574704000487"},{"doi-asserted-by":"crossref","unstructured":"4. Ali A. Moosavian A. and Alipour K. , \u201cMoment-Height Tip-Over Measure for Stability Analysis of Mobile Robotic Systems,\u201d Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Beijing, China (Oct. 2006) pp. 5546\u20135551.","key":"S0263574708004803_ref4","DOI":"10.1109\/IROS.2006.282270"},{"doi-asserted-by":"crossref","unstructured":"3. Papadopoulos E. G. and Rey D. 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