{"id":"https://openalex.org/W2025673320","doi":"https://doi.org/10.2316/journal.206.2007.4.206-3036","title":"ON THE DYNAMIC TIP-OVER STABILITY OF WHEELED MOBILE MANIPULATORS","display_name":"ON THE DYNAMIC TIP-OVER STABILITY OF WHEELED MOBILE MANIPULATORS","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2025673320","doi":"https://doi.org/10.2316/journal.206.2007.4.206-3036","mag":"2025673320"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2007.4.206-3036","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2007.4.206-3036","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-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/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.A.A. Moosavian","raw_affiliation_strings":["K.N. Toosi University of Technology. Tehran. Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"K.N. Toosi University of Technology. Tehran. Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005143839","display_name":"Khalil Alipour","orcid":"https://orcid.org/0000-0003-4456-1179"},"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":"K. Alipour","raw_affiliation_strings":["K.N. Toosi University of Technology. Tehran. Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"K.N. Toosi University of Technology. Tehran. Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":4.0457,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.93446637,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.995199978351593,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9830999970436096,"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/measure","display_name":"Measure (data warehouse)","score":0.8560137748718262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6814544200897217},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6541889309883118},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.560771107673645},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5491538047790527},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5246484279632568},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5168012380599976},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4472905397415161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4389270544052124},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4343258738517761},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4326394200325012},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41382595896720886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20511853694915771},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.08185452222824097},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0691271424293518}],"concepts":[{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.8560137748718262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6814544200897217},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6541889309883118},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.560771107673645},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5491538047790527},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5246484279632568},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5168012380599976},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4472905397415161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4389270544052124},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4343258738517761},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4326394200325012},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41382595896720886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20511853694915771},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.08185452222824097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0691271424293518},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2316/journal.206.2007.4.206-3036","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2007.4.206-3036","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1537596861","https://openalex.org/W1876290296","https://openalex.org/W1999852035","https://openalex.org/W2009261347","https://openalex.org/W2013159194","https://openalex.org/W2016406346","https://openalex.org/W2037729465","https://openalex.org/W2051287096","https://openalex.org/W2075301351","https://openalex.org/W2089882346","https://openalex.org/W2096240904","https://openalex.org/W2101677389","https://openalex.org/W2105763741","https://openalex.org/W2114384218","https://openalex.org/W2121965036","https://openalex.org/W2123610238","https://openalex.org/W2126761941","https://openalex.org/W2133952236","https://openalex.org/W2139246146","https://openalex.org/W2160111545","https://openalex.org/W2164148538","https://openalex.org/W2169876343"],"related_works":["https://openalex.org/W2525438122","https://openalex.org/W2159914521","https://openalex.org/W4235443019","https://openalex.org/W4251298892","https://openalex.org/W2356013541","https://openalex.org/W3134654743","https://openalex.org/W2385444679","https://openalex.org/W3133868776","https://openalex.org/W2360644005","https://openalex.org/W2169632573"],"abstract_inverted_index":{"Due":[0],"to":[1,119,138,146,175,181],"excessive":[2],"maneuverability,":[3],"mobile":[4,16,33,89,104],"manipulators":[5,12,34],"which":[6,122,212],"consist":[7],"of":[8,21,27,54,64,110,126,149,191,199,201,205,217],"one":[9,26],"or":[10,46],"more":[11],"mounted":[13],"on":[14,47],"a":[15,68,74,114,162],"base":[17],"have":[18,158],"attracted":[19],"much":[20],"interest.":[22],"Tipping":[23],"over":[24,129],"is":[25,67,85,117],"the":[28,62,111,124,127,130,140,147,170,189,192,202,215,218],"most":[29],"important":[30],"problems":[31],"in":[32,36,43,166,178,197],"especially":[35],"manipulating":[37],"heavy":[38],"objects,":[39],"also":[40],"during":[41],"maneuvers":[42],"unknown":[44],"environment":[45],"rugged":[48],"terrains.":[49],"Therefore,":[50],"estimation":[51],"and":[52,103,169,220],"evaluation":[53],"dynamic":[55],"stability":[56,77,82],"with":[57],"appropriate":[58],"easy-computed":[59],"measure":[60,78,84,94,143],"throughout":[61],"motion":[63],"such":[65],"systems":[66],"challenging":[69],"task.":[70],"In":[71],"this":[72],"study,":[73],"new":[75,141,193],"tip-over":[76],"named":[79],"as":[80],"moment--height":[81],"(MHS)":[83],"presented":[86,137],"for":[87,99,113,154],"wheeled":[88],"manipulators.":[90,105],"The":[91,106,185],"suggested":[92],"MHS":[93,112,128,142,195],"can":[95],"be":[96],"effectively":[97],"used":[98],"both":[100],"legged":[101],"robots":[102],"required":[107],"computational":[108],"effort":[109],"given":[115],"system":[116,155,219],"compared":[118,145],"other":[120,150],"measures,":[121],"reveals":[123],"efficiency":[125],"others.":[131],"Finally,":[132],"various":[133],"case":[134],"studies":[135],"are":[136],"demonstrate":[139],"performance":[144],"results":[148,187],"measures.":[151],"All":[152],"calculations":[153],"dynamics":[156],"modeling":[157],"been":[159],"performed":[160],"using":[161],"symbolic":[163],"code":[164,177],"developed":[165],"Maple":[167],"VI,":[168],"obtained":[171,186],"models":[172],"were":[173],"transferred":[174],"another":[176],"Matlab":[179],"VII":[180],"complete":[182],"numerical":[183],"simulations.":[184],"show":[188],"merits":[190],"proposed":[194],"measure,":[196],"terms":[198],"prediction":[200],"exact":[203],"time":[204],"instability":[206],"occurrence,":[207],"without":[208],"extra":[209],"unnecessary":[210],"precautions":[211],"may":[213],"confine":[214],"maneuverability":[216],"its":[221],"operation.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
