{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T13:10:06Z","timestamp":1776258606287,"version":"3.50.1"},"reference-count":44,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T00:00:00Z","timestamp":1738195200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>This paper presents methods for finding optimal configurations and actuator forces\/torques to maximise contact wrenches in a desired direction for underwater vehicle manipulator systems (UVMS). The wrench maximisation problem is formulated as a bi-level optimisation problem, with upper-level variables in a low-dimensional parameterised redundancy space, and a linear lower-level problem. We additionally consider the cases of one or more manipulators with multiple contact forces, maximising the wrench capability while tracking a trajectory and generating large wrench impulses using dynamic motions. The specific cases of maximising force to lift a heavy load and maximising torque during a valve-turning operation are considered. Extensive experimental results are presented using a 6 degree of freedom (DOF) underwater robotic platform equipped with a 4DOF manipulator and show significant increases in the wrench capability compared to existing methods for mobile manipulators.<\/jats:p>","DOI":"10.3389\/frobt.2024.1442813","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T08:39:41Z","timestamp":1738226381000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Maximising the wrench capability of mobile manipulators with experiments on a UVMS"],"prefix":"10.3389","volume":"11","author":[{"given":"Wilhelm J.","family":"Marais","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oscar","family":"Pizarro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefan B.","family":"Williams","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2025,1,30]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"1483","DOI":"10.1109\/TRO.2017.2708087","article-title":"Choosing poses for force and stiffness control","volume":"33","author":"Ajoudani","year":"2017","journal-title":"IEEE Trans. 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