Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

421
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
421
Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

474
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
474
Hierarchy of Motor Control01:18

Hierarchy of Motor Control

2.9K
The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.
2.9K
Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

240
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
240
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

486
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
486
Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.5K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
12.5K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Ginsenoside Rb2-based inactivation enables a Zika vaccine that maintains pregnancy and protects offspring against virus.

Antiviral research·2026
Same author

Multistage responsive microneedle delivery system loaded oncolytic virus for topical therapy of melanoma.

Acta pharmaceutica Sinica. B·2026
Same author

Surgical Treatment of Lateral Skull Base Tumors Extending to the Craniovertebral Junction.

Head & neck·2026
Same author

Low-dose spectral CTA in infant aortic coarctation.

European heart journal. Case reports·2026
Same author

FreeSplat++: Generalizable 3D Gaussian Splatting for Efficient Indoor Scene Reconstruction.

IEEE transactions on pattern analysis and machine intelligence·2026
Same author

3D printing-assisted triple-vessel <i>in situ</i> fenestration combined with a diameter-restricting technique for a complex giant aortic arch aneurysm in an octogenarian: a case report and technical innovation.

Frontiers in cardiovascular medicine·2026
Same journal

RETRACTED: Zhang et al. A Novel Framework for Reconstruction and Imaging of Target Scattering Centers via Wide-Angle Incidence in Radar Networks. <i>Sensors</i> 2025, <i>25</i>, 6802.

Sensors (Basel, Switzerland)·2026
Same journal

Enhancing Unsupervised Multi-Source Domain Adaptation for Person Re-Identification via Mixture of Experts and Graph-Based Relation.

Sensors (Basel, Switzerland)·2026
Same journal

Development of an Instrumented Glove for Palmar Pressure Assessment in Kayakers.

Sensors (Basel, Switzerland)·2026
Same journal

Development and Experimental Validation of an Autonomous IoT-Based Monitoring System for Real-Time Water Quality Assessment in the Amazon River.

Sensors (Basel, Switzerland)·2026
Same journal

Semi-Supervised Adversarial Learning Framework for Controller Area Network Bus Intrusion Detection.

Sensors (Basel, Switzerland)·2026
Same journal

Smart Optimization Method for Safety Signs in Innovative Manufacturing Environments Integrating Industrial Field IoT Sensors and Knowledge Graphs.

Sensors (Basel, Switzerland)·2026
See all related articles

Related Experiment Video

Updated: Jul 19, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.7K

A Hierarchical Motion Planning Method for Mobile Manipulator.

Hanlin Chen1, Xizhe Zang1, Yubin Liu1

  • 1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.

Sensors (Basel, Switzerland)
|August 12, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces a novel hierarchical motion planner for mobile manipulators. The planner efficiently handles 3D obstacles and real-time manipulator reconfigurations, outperforming traditional methods in speed and success rate.

Keywords:
hierarchical plannermobile manipulatormotion planning

More Related Videos

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.5K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.7K

Related Experiment Videos

Last Updated: Jul 19, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.7K
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.5K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.7K

Area of Science:

  • Robotics
  • Artificial Intelligence
  • Motion Planning

Background:

  • Mobile manipulators require sophisticated motion planning for both base and arm movements.
  • Real-time adaptation to dynamic environments and manipulator configurations is crucial.
  • Existing methods often struggle with 3D obstacles or demand significant computational resources.

Purpose of the Study:

  • To develop a hierarchical motion planner for mobile manipulators capable of autonomous, real-time configuration changes.
  • To address challenges posed by 3D obstacles and computational efficiency in motion planning.
  • To improve the success rate and reduce computation time compared to existing algorithms.

Main Methods:

  • A two-level hierarchical planner: global 2D path planning for the mobile base and local 3D planning for both base and manipulator.
  • Utilized an optimized A* algorithm for global path generation.
  • Employed a heuristic sampling-based algorithm for efficient, collision-free manipulator configuration search in real-time.

Main Results:

  • The heuristic sampling-based algorithm demonstrated superior performance over random sampling in computation time, success rate, and configuration quality.
  • The proposed method effectively handles 3D obstacles.
  • The approach avoids large memory requirements and reduces global plan generation time.

Conclusions:

  • The developed hierarchical motion planner offers an efficient and effective solution for mobile manipulator navigation in complex 3D environments.
  • The heuristic sampling approach significantly enhances real-time collision avoidance and configuration planning.
  • This method presents a viable alternative to traditional motion planning techniques, offering improved performance and resource efficiency.