This paper presents the collision-free solution to the inverse kinematics of a mobile
manipulator. The main contribution is to propose a novel inverse kinematics solution …

With the increasing applications of wheeled mobile manipulators (WMMs), consisting of a
mobile platform (MP) and a manipulator, in diverse fields, new challenges have arisen in …

Human intention adaptation is usually realized by changing impedance/admittance
parameters according to human interaction in physical human-robot interaction (pHRI) …

In this paper, a novel robotic assistive system (RAS) for mobility assistance of elderly adults
is developed based on admittance control with force exertion ability enhancement (FEAE) of …

The increase in the ageing population worldwide poses a severe challenge in assisting
older individuals to live independently, including the provision of mobility assistance and …

Wheeled mobile manipulators (WMMs) are primarily composed of a manipulator and a
mobile base, which lead to their agility, maneuverability, and mobility. Despite impressive …

Aiming at the trajectory planning problem considering kinematic and dynamic manipulability
optimizations, this article proposes an acceleration level manipulability maximization …

An increasing demand for wheeled mobile manipulators (WMMs) in fields that require high
precision tasks has introduced new requirements as far as their kinematic accuracy. A WMM …

This paper addresses the problems of valve-turning operation in rescue environments
where a wheeled mobile manipulator (WMM) is employed, including the possible …

Legged manipulators are increasingly prevalent across diverse application domains due to
their capacity to maintain manipulability and seamlessly navigate unstructured …