{"id":"https://openalex.org/W3179853431","doi":"https://doi.org/10.1155/2021/9913335","title":"Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion","display_name":"Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion","publication_year":2021,"publication_date":"2021-07-09","ids":{"openalex":"https://openalex.org/W3179853431","doi":"https://doi.org/10.1155/2021/9913335","mag":"3179853431"},"language":"en","primary_location":{"id":"doi:10.1155/2021/9913335","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9913335","pdf_url":"https://downloads.hindawi.com/journals/jr/2021/9913335.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2021/9913335.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101502782","display_name":"Xianhua Li","orcid":"https://orcid.org/0000-0002-0524-2469"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xianhua Li","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033992564","display_name":"Liang Wu","orcid":"https://orcid.org/0000-0002-0185-7415"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Wu","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083283757","display_name":"Qing Sun","orcid":"https://orcid.org/0000-0002-9428-4352"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Sun","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101857788","display_name":"Tao Song","orcid":"https://orcid.org/0000-0003-2319-1682"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]},{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Song","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China","Shanghai Robot Industry Technology Research Institute Co., Ltd., Shanghai 200063, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Shanghai Robot Industry Technology Research Institute Co., Ltd., Shanghai 200063, China","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101502782"],"corresponding_institution_ids":["https://openalex.org/I184681353"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":0.0845,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.37669454,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2021","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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/computer-science","display_name":"Computer science","score":0.7229808568954468},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6731824278831482},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.6454095840454102},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6190816164016724},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6175988912582397},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6140586137771606},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5655077695846558},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5272221565246582},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5249578952789307},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42030051350593567},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3353765606880188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1627187430858612},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0601668655872345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.04976096749305725}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7229808568954468},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6731824278831482},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.6454095840454102},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6190816164016724},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6175988912582397},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6140586137771606},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5655077695846558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5272221565246582},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5249578952789307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42030051350593567},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3353765606880188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1627187430858612},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0601668655872345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.04976096749305725},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2021/9913335","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9913335","pdf_url":"https://downloads.hindawi.com/journals/jr/2021/9913335.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a521a4ff49aa4b13b02f45c602681897","is_oa":true,"landing_page_url":"https://doaj.org/article/a521a4ff49aa4b13b02f45c602681897","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2021 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2021/9913335","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9913335","pdf_url":"https://downloads.hindawi.com/journals/jr/2021/9913335.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1740039381","display_name":null,"funder_award_id":"2020HX010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1956905258","display_name":null,"funder_award_id":"2020HX010","funder_id":"https://openalex.org/F4320323708","funder_display_name":"Anhui University of Science and Technology"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3740982010","display_name":null,"funder_award_id":"K2020468","funder_id":"https://openalex.org/F4320323708","funder_display_name":"Anhui University of Science and Technology"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4019674205","display_name":null,"funder_award_id":"2020CX2042","funder_id":"https://openalex.org/F4320323708","funder_display_name":"Anhui University of Science and Technology"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5249334224","display_name":null,"funder_award_id":"61803","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7605671351","display_name":null,"funder_award_id":"61803251","funder_id":"https://openalex.org/F4320323708","funder_display_name":"Anhui University of Science and Technology"},{"id":"https://openalex.org/G803968132","display_name":null,"funder_award_id":"2020CX2042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8665943101","display_name":null,"funder_award_id":"61803251","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321435","display_name":"Anhui University","ror":"https://ror.org/05th6yx34"},{"id":"https://openalex.org/F4320323708","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3179853431.pdf","grobid_xml":"https://content.openalex.org/works/W3179853431.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W620109058","https://openalex.org/W1537596861","https://openalex.org/W1564897360","https://openalex.org/W1778214895","https://openalex.org/W1876290296","https://openalex.org/W2025673320","https://openalex.org/W2033353158","https://openalex.org/W2064961696","https://openalex.org/W2084196626","https://openalex.org/W2105763741","https://openalex.org/W2112600060","https://openalex.org/W2115152000","https://openalex.org/W2121014869","https://openalex.org/W2121965036","https://openalex.org/W2139246146","https://openalex.org/W2156488586","https://openalex.org/W2171849143","https://openalex.org/W2554744805","https://openalex.org/W2564178275","https://openalex.org/W2588181114","https://openalex.org/W2793200949","https://openalex.org/W2944547061","https://openalex.org/W3035860790","https://openalex.org/W3092095117","https://openalex.org/W3119780098","https://openalex.org/W3132881541"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2095386133"],"abstract_inverted_index":{"Tip-over":[0],"stability":[1,45,61,80,93],"analysis":[2],"is":[3],"critical":[4],"for":[5,76],"the":[6,12,17,20,24,35,47,65,78,83,87,91,95,109,114],"success":[7],"of":[8,11,43,46,82,94,113],"mobile":[9,25,39,48,69,97,105],"manipulation":[10],"dual":[13,21,36,66],"arm,":[14],"especially":[15],"in":[16,86],"cases":[18],"that":[19],"arm":[22,37,67,84],"or":[23],"platform":[26,70],"moves":[27],"rapidly.":[28],"Due":[29],"to":[30,89],"strong":[31],"dynamics":[32],"coupling":[33],"between":[34],"and":[38,68,72,111],"platform,":[40],"online":[41],"evaluation":[42],"dynamic":[44,92],"dual-arm":[49,98,106],"robot":[50,107],"still":[51],"remains":[52],"challenging.":[53],"This":[54],"paper":[55],"presents":[56],"an":[57,74],"improved":[58],"tip-over":[59,79],"moment":[60],"criterion":[62],"dealing":[63],"with":[64],"interaction":[71],"proposes":[73],"algorithm":[75],"calculating":[77],"margin":[81],"end":[85],"workspace":[88],"analyze":[90],"wheeled":[96],"robot.":[99],"The":[100],"simulations":[101],"on":[102],"a":[103],"four-wheeled":[104],"validate":[108],"correctness":[110],"feasibility":[112],"proposed":[115],"method.":[116]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}