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Rather than attempting to obtain the exact position of the valve, this paper presents a solution to two main problems in robotic valve-turning operations: the radial position deviation between the rotation axes of the tool and the valve handle, which may cause large radial forces, and the possible axial displacement of the valve handle as the valve turns, which may lead to large axial forces. For the former problem, we designed a compliant end-effector with a tolerance of approximately 3.5\u00b0 (angle) and 9.7 mm (position), and provided a hybrid passive\/active compliance method. For the latter problem, a passivity-based force tracking algorithm was employed. Combining the custom-built compliant end-effector and the passivity-based control method can significantly reduce both the radial and the axial forces. Additionally, for valves with different installation types and WMMs with different configurations, we analyzed the minimum required number of actuators for valve turning. Simulation and experimental results are presented to show the effectiveness of the proposed approach.<\/jats:p>","DOI":"10.3390\/s24175559","type":"journal-article","created":{"date-parts":[[2024,8,28]],"date-time":"2024-08-28T05:34:49Z","timestamp":1724823289000},"page":"5559","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Robotic Valve Turning with a Wheeled Mobile Manipulator via Hybrid Passive\/Active Compliance"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2683-0964","authenticated-orcid":false,"given":"Hongjun","family":"Xing","sequence":"first","affiliation":[{"name":"National Key Laboratory of Aerospace Mechanism, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liang","family":"Ding","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinbao","family":"Chen","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Aerospace Mechanism, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haibo","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zongquan","family":"Deng","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1002\/rob.21439","article-title":"Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots","volume":"30","author":"Nagatani","year":"2013","journal-title":"J. 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