{"id":"https://openalex.org/W2169876343","doi":"https://doi.org/10.1109/robot.2002.1014829","title":"Real-time ZMP compensation method using null motion for mobile manipulators","display_name":"Real-time ZMP compensation method using null motion for mobile manipulators","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2169876343","doi":"https://doi.org/10.1109/robot.2002.1014829","mag":"2169876343"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100411988","display_name":"Jinhyun Kim","orcid":"https://orcid.org/0000-0003-1313-6938"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinhyun Kim","raw_affiliation_strings":["Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wan Kyun Chung","raw_affiliation_strings":["Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062772405","display_name":"Youngil Youm","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngil Youm","raw_affiliation_strings":["Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Bio-Mechatronics Laboratory, Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101935264","display_name":"Byung-Uk Lee","orcid":"https://orcid.org/0000-0002-3452-3016"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"B.H. Lee","raw_affiliation_strings":["Robotics & Intelligent Systems Laboratory, School of Electrical Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Laboratory, School of Electrical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":98,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1967","last_page":"1972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.7079687118530273},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6406885385513306},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6331998705863953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5799392461776733},{"id":"https://openalex.org/keywords/motion-compensation","display_name":"Motion compensation","score":0.5524373650550842},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5198350548744202},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4103856384754181},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38201335072517395},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07601702213287354},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.062066107988357544}],"concepts":[{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.7079687118530273},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6406885385513306},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6331998705863953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5799392461776733},{"id":"https://openalex.org/C128840427","wikidata":"https://www.wikidata.org/wiki/Q1302174","display_name":"Motion compensation","level":2,"score":0.5524373650550842},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5198350548744202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4103856384754181},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38201335072517395},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07601702213287354},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.062066107988357544},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W968663011","https://openalex.org/W1496777766","https://openalex.org/W1567466824","https://openalex.org/W1628044330","https://openalex.org/W1935300939","https://openalex.org/W1992653875","https://openalex.org/W2006260022","https://openalex.org/W2051155494","https://openalex.org/W2062691475","https://openalex.org/W2105763741","https://openalex.org/W2115621646","https://openalex.org/W2132675245","https://openalex.org/W2133952236","https://openalex.org/W2139246146","https://openalex.org/W2145944877","https://openalex.org/W2147832762","https://openalex.org/W2163343514","https://openalex.org/W2471047937","https://openalex.org/W6600740208","https://openalex.org/W6640459402"],"related_works":["https://openalex.org/W2951287487","https://openalex.org/W1570309050","https://openalex.org/W1994829526","https://openalex.org/W2379084545","https://openalex.org/W2219563043","https://openalex.org/W2212197444","https://openalex.org/W1885898241","https://openalex.org/W2157169416","https://openalex.org/W2389183782","https://openalex.org/W2097100439"],"abstract_inverted_index":{"The":[0],"dynamic":[1,29],"stability":[2,30,54],"of":[3,31,55,81],"a":[4,22],"mobile":[5,58],"manipulator":[6,59],"using":[7,21,43,74],"ZMP":[8,45],"compensation":[9],"is":[10,19,72,84],"considered.":[11],"A":[12],"unified":[13],"approach":[14],"for":[15,39,66],"the":[16,28,32,36,40,44,53,56,62,68,75,79],"two":[17],"subsystems":[18],"formulated":[20],"redundant":[23,41],"scheme.":[24],"First,":[25],"to":[26],"conserve":[27],"system,":[33],"we":[34],"define":[35],"performance":[37,50,70,80],"index":[38,51,71],"system":[42],"(zero":[46],"moment":[47],"point).":[48],"This":[49],"represents":[52],"whole":[57],"system.":[60],"Then,":[61],"redundancy":[63],"resolution":[64],"problem":[65],"optimizing":[67],"given":[69],"solved":[73],"null":[76],"motion.":[77],"Finally,":[78],"this":[82],"method":[83],"demonstrated":[85],"by":[86],"simulation":[87],"study.":[88]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":11}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
