@InProceedings{kang:icra:2001,
  author    = {Kang, Sungchul and Komoriya, Kiyoshi and Yokoi, Kazuhito and Kotoku, Tetsuo and Tanie, Kazuo},
  title     = {Utilization of Inertial Effect in Damping-based Posture Control of Mobile Manipulator},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year      = {2001},
  address   = {Seoul, South Korea},
  month     = {May 21-May 26},
  url       = {https://www.researchgate.net/profile/Sungchul-Kang-2/publication/3902427\_Utilization\_of\_inertial\_effect\_in\_damping-based\_posture\_control\_of\_mobile\_manipulator/links/5580225c08ae47ede114e1ea/Utilization-of-inertial-effect-in-damping-based-posture-control-of-mobile-manipulator.pdf},
  keywords  = {Manipulator dynamics, Force feedback, Space technology, Mechanical engineering, Laboratories, End effectors, Mechanical variables measurement, Damping, Force control, Motion analysis},
  doi       = {10.1109/ROBOT.2001.932786},
  abstract  = {Presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulator. The reduced effective inertia has a significant effect on reducing the impulse force in collision with the environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method which can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation.}
}