{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:56:06Z","timestamp":1777715766586,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2000,8,1]],"date-time":"2000-08-01T00:00:00Z","timestamp":965088000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,8]]},"abstract":"<jats:p>For a mobile manipulator to be used in areas such as offices and houses, it is desirable that the mobile platform be small sized. In the case of a small-sized platform, the mobile manipulator may tip over when moving at high speed or executing tasks in the presence of disturbances. Therefore, it is necessary to simultaneously consider both stabilization and manipulation while coordinating vehicle motion and manipulator motion. In this paper, we first present the concept of the valid stable region to evaluate stability in the presence of disturbances. Next, we propose a method for coordinating vehicle motion planning including manipulator configuration, and manipulator motion planning including platform stability. Then, the optimal problem of vehicle motion is formulated, taking into account vehicle dynamics, manipulator workspace, and system stability. Also, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of the proposed method is demonstrated by simulation examples.<\/jats:p>","DOI":"10.1177\/02783640022067139","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"732-742","source":"Crossref","is-referenced-by-count":94,"title":["Coordinated Motion Planning for a Mobile Manipulator considering Stability                 and Manipulation"],"prefix":"10.1177","volume":"19","author":[{"given":"Qiang","family":"Huang","sequence":"first","affiliation":[{"name":"Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo,                         Bunkyo-ku, Tokyo 113-8656 Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kazuo","family":"Tanie","sequence":"additional","affiliation":[{"name":"Department of Robotics, Mechanical Engineering Laboratory, 1-2 Namiki,                         Tsukuba, Ibaraki, 305-8564 Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shigeki","family":"Sugano","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Waseda University, 3-4-1 Okubo,                         Shinjuku, Tokyo, 169-8555 Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,8,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/70.88151"},{"key":"atypb2","unstructured":"Chong, N., Yokoi, K., Oh, S., and Tanie, K. 1997. Position control of a collision-tolerant passive mobile manipulator with base suspension characteristics . Proceedings of IEEE International Conference on Robotics and Automation, April 20\u201325, Albuquerque, NM, pp. 594\u2013599 ."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.2307\/2372560"},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Dubowsky, S., and Vance, E. E. 1989. Planning mobile manipulator motions considering vehicle dynamic stability constrains . Proceedings of IEEE International Conference on Robotics and Automation, May 14\u201319, Scottsdale, AZ, pp. 1271\u20131276 .","DOI":"10.1109\/ROBOT.1989.100155"},{"key":"atypb5","doi-asserted-by":"crossref","unstructured":"Fukuda, T., and Fujisawa, Y. 1992. Manipulator\/vehicle system for man-robot cooperation . Proceedings of IEEE International Conference on Robotics and Automation, May 12\u201314, Nice, France, pp. 74\u201379 .","DOI":"10.1109\/ROBOT.1992.220332"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Ghasempoor, A., and Sepehri, N. 1995. A measure of stability for mobile base manipulator . Proceedings of IEEE International Conference on Robotics and Automation, May 21\u201327, Nagoya, Japan, pp. 2249\u20132254 .","DOI":"10.1109\/ROBOT.1995.525596"},{"key":"atypb7","unstructured":"Hootsmans, N.A.M., and Dubowsky, S. 1991. Large motion control of mobile manipulators including vehicle suspension characteristics . Proceedings of IEEE International Conference Robotics and Automation, April 9\u201311, Sacramento, CA, pp. 2236\u20132341 ."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1163\/156855399X00982"},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Jacobs, P., Laumond, J. P., and Taix, M. 1991. Efficient motion planners for nonholonomic mobile robots . Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, November 3\u20135, Osaka, Japan, pp. 1229\u20131235 .","DOI":"10.1109\/IROS.1991.174668"},{"key":"atypb10","unstructured":"Kanayama, Y., and Miyake, N. 1985. Trajectory generation for mobile robots . Proceedings of 3rd International Symposium of Robotics Research, October 7\u201311, Gouvieux, France, pp. 330\u2013340 ."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199611)13:11<755::AID-ROB6>3.0.CO;2-U"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Koyachi, N., Arai, T., Adachi, H., Asami, K., and Itoh, Y. 1995. Hexapod with integrated limb mechanism of leg and arm . Proceedings of International Conference on Robotics and Automation, May 21\u201327, Nagoya, Japan, pp. 1952\u20131957 .","DOI":"10.1109\/ROBOT.1995.525550"},{"key":"atypb13","unstructured":"Luenberger, D. G. 1973. Introduction to Linear and Nonlinear Programming. Reading, MA: Addision-Wesley ."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9045(84)90121-7"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Meessuri, D. A., and Vance, E. E. 1985. Automatic body regulation for maintaining stability of a legged vehicle during rough-terrain locomotion . IEEE J. of Robotics and Automation RA-1(3): 132\u2013141 .","DOI":"10.1109\/JRA.1985.1087012"},{"key":"atypb16","doi-asserted-by":"crossref","unstructured":"Nelson, W. 1989. Continuous-curvature paths for autonomous vehicles . Proceedings of IEEE International Conference on Robotics and Automation, May 14\u201319, Scottsdale, AZ, pp. 1260\u20131264 .","DOI":"10.1109\/ROBOT.1989.100153"},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Pinchard, O., Liegeois, A., and Pougnet, F. 1996. Generalized polar polynomials for vehicle path generation with dynamic constraints . Proceedings of IEEE International Conference on Robotics and Automation, April 22\u201328, Minneapolis, MN, pp. 915\u2013920 .","DOI":"10.1109\/ROBOT.1996.503889"},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"Rey, D. A., and Papadopoulos, E. G. 1997. On-line automatic tipover for a mobile manipulator . Proceedings of IEEE\/RSJ International Conference on Intelligent Robotics and Automation, September 7\u201311, Grenoble, France, pp. 1273\u20131278 .","DOI":"10.1109\/IROS.1997.656414"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620090307"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700201"},{"key":"atypb21","unstructured":"Shampine, L., and Gordon, M. 1975. Computer Solution of Ordinary Differential Equations. San Francisco: Freeman ."},{"key":"atypb22","unstructured":"Takanishi, A., Egusa, Y., Tochizawa, M., Takeya, T., and Kato, I. 1988. Realization of dynamic biped walking stabilized with trunk motion . RoManSy 7: Proceedings of 7th CISM-IFTToMM Symposium on Theory and Practice of Robots and Manipulators, September 12\u201315, Udine, Italy, pp. 68\u201379 ."},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1969.4502596"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1109\/9.293207"},{"key":"atypb25","doi-asserted-by":"crossref","unstructured":"Yoneda, K., and Hirose, S. 1996. Tumble stability criterion of integrated locomotion and manipulation . Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, November 4\u20138, Osaka, Japan, pp. 870\u2013876 .","DOI":"10.1109\/IROS.1996.571067"},{"key":"atypb26","unstructured":"Yoshikawa, T. 1984. Manipulability of robotic mechanisms . Proceedings 2nd International Symposium of Robotic Research, August 20-23, Kyoto, Japan, pp. 91\u201398 ."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022067139","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022067139","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:17Z","timestamp":1777457777000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783640022067139"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,8]]},"references-count":26,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2000,8]]}},"alternative-id":["10.1177\/02783640022067139"],"URL":"https:\/\/doi.org\/10.1177\/02783640022067139","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,8]]}}}