{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T12:38:55Z","timestamp":1780576735428,"version":"3.54.1"},"reference-count":31,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2023,11,22]],"date-time":"2023-11-22T00:00:00Z","timestamp":1700611200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,1,26]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify manipulation performance is critical to support the pose decision process. This paper aims to present a comprehensive index to evaluate the manipulator\u2019s operation performance from various aspects.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>In this research, a criterion called hybrid manipulability (HM) is proposed to assess the performance of the manipulator\u2019s operation, considering crucial factors such as joint limits, obstacle avoidance and stability. The determination of the optimal platform pose is achieved by selecting the pose that maximizes the HM within the feasible inverse reachability map associated with the target object.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>A self-built mobile manipulator is adopted as the experimental platform, and the feasibility of the proposed method is experimentally verified in the context of object-grasping tasks both in simulation and practice.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The proposed HM extends upon the conventional notion of manipulability by incorporating additional factors, including the manipulator\u2019s joint limits, the obstacle avoidance situation during the operation and the manipulation stability when grasping the target object. The manipulator can achieve enhanced stability during grasping when positioned in the pose determined by the HM.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-06-2023-0128","type":"journal-article","created":{"date-parts":[[2023,11,21]],"date-time":"2023-11-21T01:26:10Z","timestamp":1700529970000},"page":"134-147","source":"Crossref","is-referenced-by-count":4,"title":["Pose optimization for mobile manipulator grasping based on hybrid manipulability"],"prefix":"10.1108","volume":"51","author":[{"given":"Yangmin","family":"Xie","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiajia","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yusheng","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2023,11,22]]},"reference":[{"key":"key2024020817330879400_ref001","first-page":"11039","article-title":"A mobile manipulation system for one-shot teaching of complex tasks in homes","year":"2020"},{"key":"key2024020817330879400_ref002","doi-asserted-by":"crossref","first-page":"2991","DOI":"10.1109\/CAC48633.2019.8996467","article-title":"Path planning for obstacle avoidance of manipulators based on improved artificial potential field","volume-title":"2019 Chinese Automation Congress (CAC)","year":"2019"},{"issue":"2","key":"key2024020817330879400_ref003","first-page":"1202","article-title":"Dexterous grasping by manipulability selection for mobile manipulator with visual guidance","volume":"15","year":"2018","journal-title":"IEEE Transactions on Industrial Informatics"},{"issue":"12","key":"key2024020817330879400_ref004","doi-asserted-by":"crossref","first-page":"1200","DOI":"10.3390\/machines10121200","article-title":"3d environment mapping with a variable resolution NDT method","volume":"10","year":"2022","journal-title":"Machines"},{"issue":"1","key":"key2024020817330879400_ref005","doi-asserted-by":"crossref","first-page":"13","DOI":"10.3390\/act11010013","article-title":"3d object recognition and localization with a dense lidar scanner","volume":"11","year":"2022","journal-title":"Actuators"},{"issue":"17","key":"key2024020817330879400_ref006","article-title":"Workspace analysis of a mobile manipulator with obstacle avoidance in 3d printing tasks","volume":"11","year":"2021","journal-title":"Applied Sciences"},{"key":"key2024020817330879400_ref007","first-page":"2192","article-title":"Motion planning for a mobile manipulator considering stability and task constraints","volume-title":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. 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