Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Stability Constrained Mobile Manipulation Planning on Rough Terrain   This paper presents a framework that allows online
dynamic-stability-constrained optimal trajectory planning of a mobile
manipulator robot working on rough terrain. First, the kinematics model of a
mobile manipulator robot, and the Zero Moment Point (ZMP) stability measure are
presented as theoretical background. Then, a sampling-based quasi-static
planning algorithm modified for stability guarantee and traction optimization
in continuous dynamic motion is presented along with a mathematical proof. The
robot's quasi-static path is then used as an initial guess to warm-start a
nonlinear optimal control solver which may otherwise have difficulties finding
a solution to the stability-constrained formulation efficiently. The
performance and computational efficiency of the framework are demonstrated
through an application to a simulated timber harvesting mobile manipulator
machine working on varying terrain. The results demonstrate feasibility of
online trajectory planning on varying terrain while satisfying the dynamic
stability constraint.

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The categories of this paper are: gr-qc
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The categories of this paper are: q-alg
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The categories of this paper are: bayes-an
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The categories of this paper are: math-ph
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The categories of this paper are: cond-mat
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The categories of this paper are: cmp-lg
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The categories of this paper are: comp-gas
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The categories of this paper are: chem-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: atom-ph
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The categories of this paper are: stat
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The categories of this paper are: math
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The categories of this paper are: acc-phys
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The categories of this paper are: nucl-ex
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The categories of this paper are: patt-sol
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The categories of this paper are: dg-ga