{"id":"https://openalex.org/W2130617007","doi":"https://doi.org/10.1109/icra.2011.5980562","title":"Point-to-point stable motion planning of wheeled mobile robots with multiple arms for heavy object manipulation","display_name":"Point-to-point stable motion planning of wheeled mobile robots with multiple arms for heavy object manipulation","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2130617007","doi":"https://doi.org/10.1109/icra.2011.5980562","mag":"2130617007"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005143839","display_name":"Khalil Alipour","orcid":"https://orcid.org/0000-0003-4456-1179"},"institutions":[{"id":"https://openalex.org/I197220011","display_name":"Qazvin Islamic Azad University","ror":"https://ror.org/023kjn321","country_code":"IR","type":"education","lineage":["https://openalex.org/I110525433","https://openalex.org/I197220011"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Khalil Alipour","raw_affiliation_strings":["Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin, Iran","Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin Branch, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]},{"raw_affiliation_string":"Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin Branch, Iran","institution_ids":["https://openalex.org/I197220011"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009324734","display_name":"S. Ali A. Moosavian","orcid":"https://orcid.org/0000-0002-9117-7615"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Ali A. Moosavian","raw_affiliation_strings":["Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran","Department of Mechanical Engineering at K N Toosi University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Department of Mechanical Engineering at K N Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8628,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.75337536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6162","last_page":"6167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6671084761619568},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.609269917011261},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5940755009651184},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5748700499534607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5594280362129211},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5551663041114807},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5251374244689941},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4782104194164276},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.47554752230644226},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4753917455673218},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.46749985218048096},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4617128372192383},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4523497521877289},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.4333280026912689},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4243015646934509},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39068740606307983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28482869267463684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25093233585357666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24608898162841797},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.1675294041633606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16523027420043945}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6671084761619568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.609269917011261},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5940755009651184},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5748700499534607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5594280362129211},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5551663041114807},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5251374244689941},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4782104194164276},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.47554752230644226},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4753917455673218},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.46749985218048096},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4617128372192383},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4523497521877289},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.4333280026912689},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4243015646934509},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39068740606307983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28482869267463684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25093233585357666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24608898162841797},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.1675294041633606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16523027420043945},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1574514837","https://openalex.org/W1999852035","https://openalex.org/W2023415517","https://openalex.org/W2025673320","https://openalex.org/W2034719434","https://openalex.org/W2051287096","https://openalex.org/W2128166584","https://openalex.org/W2139246146","https://openalex.org/W2149407815","https://openalex.org/W2151743976","https://openalex.org/W2161281401"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W2138228021","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2259616189","https://openalex.org/W2312786236","https://openalex.org/W20648474"],"abstract_inverted_index":{"Heavy":[0],"object":[1,51,212],"manipulation":[2,52],"by":[3],"wheeled":[4,46,215],"mobile":[5,47],"manipulators":[6,48],"may":[7],"lead":[8],"to":[9,26,100,163,174,208],"serious":[10],"consequences":[11],"such":[12],"as":[13,153],"postural":[14,109,186],"instability,":[15],"and":[16,29,60,90,136,139,200],"this":[17,144],"necessitates":[18],"dynamically":[19],"stable":[20,40,149,229],"planning":[21,42,150,204],"based":[22],"on":[23,70],"systematic":[24],"analysis":[25],"better":[27],"predict":[28],"eliminate":[30],"the":[31,37,58,75,101,108,112,117,124,127,146,171,178,183,194,224],"possibility":[32],"of":[33,63,74,111,116,126,148,170,220,234],"toppling":[34],"down.":[35],"In":[36],"present":[38],"study,":[39],"motion":[41,115,231],"is":[43,55,83,120,130,151,161,167,198,206],"investigated":[44],"for":[45,80,95,177],"during":[49],"heavy":[50,65,211],"tasks.":[53],"It":[54],"assumed":[56],"that":[57,123,218],"initial":[59,89,135],"final":[61,91,137],"poses":[62],"a":[64,168,191,210,214,228],"payload":[66,76],"are":[67,104,141],"specified.":[68],"Based":[69],"these":[71,87],"known":[72],"postures":[73],"two":[77,88,221],"proper":[78,158],"configurations":[79],"robotic":[81,97,216],"system":[82,129,195,217],"defined.":[84],"Then,":[85],"between":[86],"poses,":[92],"appropriate":[93],"trajectories":[94],"multiple":[96],"arms":[98],"relative":[99],"moving":[102,118],"base":[103,119],"planned":[105,121],"without":[106],"considering":[107],"stability":[110,125,197],"system.":[113],"Next,":[114],"so":[122],"overall":[128],"guaranteed":[131],"while":[132],"its":[133],"predetermined":[134],"positions":[138],"velocities":[140],"fulfilled.":[142],"To":[143],"end,":[145],"problem":[147],"solved":[152],"an":[154],"optimization":[155],"problem.":[156],"A":[157],"cost":[159],"function":[160],"considered,":[162],"be":[164,175],"minimized,":[165],"which":[166],"measure":[169],"control":[172],"effort":[173],"used":[176],"platform":[179],"motion.":[180],"Moreover,":[181],"using":[182],"new":[184],"dynamic":[185,196],"Moment-Height":[187],"Stability":[188],"(MHS)":[189],"measure,":[190],"constraint":[192],"denoting":[193],"derived":[199],"satisfied.":[201],"The":[202],"proposed":[203],"approach":[205],"applied":[207],"move":[209],"with":[213],"consists":[219],"manipulators,":[222],"where":[223],"obtained":[225],"results":[226],"reveal":[227],"optimal":[230],"besides":[232],"satisfaction":[233],"various":[235],"practical":[236],"aspects.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}