{
  "abstract": "A robot manipulator has a base with a connected arm by a shoulder joint, and a control system and force selector. Based on a target trajectory for a distal end of the arm instructions, a target motion and an effective force applied to the base that causes the base to execute the target motion is determined. An applied force on the robot manipulator results in a determination of a virtual ZMP force applied to the base that would either counteract an observed motion of a ZMP of the robot manipulator or act to move the ZMP back to within a predetermined support region, and/or an external force applied. Data defining the effective force and the virtual ZMP force and/or the external force applied to the base and determines a target force based on the data is received. The base executed a motion in response to the target force.",
  "assignees": [
    "DYSON TECHNOLOGY LTD"
  ],
  "authors": [
    "CERRUTI GIULIO",
    "FARNIOLI EDOARDO",
    "RADULESCU ANDREEA"
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:07:15.097639Z",
  "publisher": "Nebula Innovations Limited",
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  "source_date": "2026-03-19",
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  "supersedes": null,
  "title": "Dynamic stability of a robot manipulator",
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