{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:20Z","timestamp":1777715720811,"version":"3.51.4"},"reference-count":19,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2000,11,1]],"date-time":"2000-11-01T00:00:00Z","timestamp":973036800000},"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":[[2000,11]]},"abstract":"<jats:p>Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base places special demands on the vehicle\u2019s drive system. For smooth, accurate motion and coordination with an on-board manipulator, a holonomic vibration-free wheel system that can be dynamically controlled is needed. In this paper, we present the design and development of a powered caster vehicle (PCV), which is shown to possess the desired mechanical properties. To dynamically control the PCV, a new approach for modeling and controlling the dynamics of this parallel redundant system is proposed. The experimental results presented in the paper illustrate the performance of this platform and demonstrate the significance of dynamic control and its effectiveness in mobile manipulation tasks.<\/jats:p>","DOI":"10.1177\/02783640022067977","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1066-1074","source":"Crossref","is-referenced-by-count":144,"title":["Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks"],"prefix":"10.1177","volume":"19","author":[{"given":"Robert","family":"Holmberg","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oussama","family":"Khatib","sequence":"additional","affiliation":[{"name":"The Robotics Laboratory, Computer Science Department, Stanford                         University, Stanford, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,11,1]]},"reference":[{"key":"atypb1","unstructured":"Bradbury, H. M. 1977 (December). Omni-directional transport device. U.S. Patent #4223753."},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Campion, G., Bastin, G., and d\u2019Andr\u00e9a-Novel, B. 1993. Structural properties and classification of kinematic and dynamic models of wheeled mobile robots . Proc. IEEE International conference on Robotics and Automation, Atlanta, GA, May, pp. 462\u2013469 .","DOI":"10.1109\/ROBOT.1993.292023"},{"key":"atypb3","unstructured":"Carlisle, B. 1983. An omni-directional mobile robot. In Developments in Robotics, ed. B. Rooks, 79\u201387. Kempston, UK: IFS ."},{"key":"atypb4","unstructured":"Chang, K.S. 2000 (March).\n                      Efficient Algorithms for Articulated Branching Mechanisms: Dynamic Modeling, Control, and Simulation\n                      . Ph.D. thesis, Stanford University, Stanford, CA."},{"key":"atypb5","unstructured":"Craig, J. J. 1989. Introduction to Robotics. 2d ed. Menlo Park, CA: Addison-Wesley ."},{"key":"atypb6","unstructured":"Hirose, S., and Amano, S. 1993. The VUTON: High pay-load high efficiency holonomic omni-directional vehicle . 6th International Symposium on Robotics Research, Pittsburgh, PA, October, pp. 253\u2013260 ."},{"key":"atypb7","unstructured":"Ilon, B. E. 1971 (December). Directionally Stable Self Propelled Vehicle. U.S. Patent #3746112."},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Khatib, O. 1987 (February). A unified approach for motion and force control of robotic manipulators: The operational space formulation . IEEE Journal of Robotics and Automation RA-3(1): 43\u201353 .","DOI":"10.1109\/JRA.1987.1087068"},{"key":"atypb9","unstructured":"Khatib, O. 1988. Object manipulation in a multi-effector robot system. In Robotics Research 4 Proc. 4th Int. Symposium, 137\u2013144. Cambridge, MA: MIT Press ."},{"key":"atypb10","unstructured":"Khatib, O., Brock, O., Yokoi, K., and Holmberg, R. 1999. Dancing with Juliet 1999 . IEEE Robotics and Automation Conference Video Proceedings, Detroit, MI."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066501"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., and Casal, A. 1996. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. In Vehicle\/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation , Osaka, Japan, vol. 2, pp. 546\u2013553 .","DOI":"10.1109\/IROS.1996.570849"},{"key":"atypb13","unstructured":"Killough, S. M., and Pin, F. 1992. Design of an omnidirectional and holonomic wheeled platform prototype . Proc. IEEE International Conference on Robotics and Automation, Nice, France, May, vol. 1, pp. 97\u2013103 ."},{"key":"atypb14","unstructured":"La, H. T. 1979 (January). Omnidirectional Vehicle. U.S. Patent #4237990."},{"key":"atypb15","unstructured":"Muir, P. F., and Neuman, C. P. 1986 (June). Kinematic modeling of wheeled mobile robots. Technical Report CMU-RITR-86-12, The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA ."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/70.313098"},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Wada, M., and Mori, S. 1996. Holonomic and omnidirectional vehicle with conventional tires . Proc. IEEE International Conference on Robotics and Automation, Minneapolis, MN, April, pp. 3671\u20133676 .","DOI":"10.1109\/ROBOT.1996.509272"},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"West, M., and Asada, H. 1992. Design of a holonomic omnidirectional vehicle . Proc. IEEE International Conference on Robotics and Automation, Nice, France, May, pp. 97\u2013103 .","DOI":"10.1109\/ROBOT.1992.220328"},{"key":"atypb19","unstructured":"West, M., and Asada, H. 1994. Design of ball wheel vehicles with full mobility, invariant kinematics and dynamics and anti-slip control . 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