{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T13:46:49Z","timestamp":1777556809047,"version":"3.51.4"},"reference-count":13,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2018,6]]},"abstract":"<jats:p> This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB. <\/jats:p>","DOI":"10.1142\/s0219843618500056","type":"journal-article","created":{"date-parts":[[2018,3,12]],"date-time":"2018-03-12T02:55:23Z","timestamp":1520823323000},"page":"1850005","source":"Crossref","is-referenced-by-count":12,"title":["Balancing Control of a Mobile Manipulator with Two Wheels by an Acceleration-Based Disturbance Observer"],"prefix":"10.1142","volume":"15","author":[{"given":"Yeong-Geol","family":"Bae","sequence":"first","affiliation":[{"name":"Intelligent Systems and Emotional Engineering (ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon 305-764, Korea"}]},{"given":"Seul","family":"Jung","sequence":"additional","affiliation":[{"name":"Intelligent Systems and Emotional Engineering (ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon 305-764, Korea"}]}],"member":"219","published-online":{"date-parts":[[2018,6,7]]},"reference":[{"key":"S0219843618500056BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/41.982254"},{"issue":"4","key":"S0219843618500056BIB007","first-page":"289","volume":"4","author":"Lee H. J.","year":"2009","journal-title":"J. Korean Robot. Soc."},{"key":"S0219843618500056BIB008","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2011.11.011"},{"key":"S0219843618500056BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.840905"},{"key":"S0219843618500056BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.903396"},{"key":"S0219843618500056BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2039452"},{"key":"S0219843618500056BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2069076"},{"key":"S0219843618500056BIB015","doi-asserted-by":"publisher","DOI":"10.5391\/IJFIS.2012.12.2.154"},{"key":"S0219843618500056BIB016","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500206"},{"key":"S0219843618500056BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.808491"},{"key":"S0219843618500056BIB018","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.905948"},{"key":"S0219843618500056BIB019","doi-asserted-by":"publisher","DOI":"10.1109\/41.238016"},{"key":"S0219843618500056BIB020","doi-asserted-by":"publisher","DOI":"10.5302\/J.ICROS.2014.13.1947"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843618500056","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T18:39:35Z","timestamp":1565116775000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843618500056"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,6]]},"references-count":13,"journal-issue":{"issue":"03","published-online":{"date-parts":[[2018,6,7]]},"published-print":{"date-parts":[[2018,6]]}},"alternative-id":["10.1142\/S0219843618500056"],"URL":"https:\/\/doi.org\/10.1142\/s0219843618500056","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,6]]}}}