Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system,  define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.
['Jinhyun Kim', 'Wan Kyun Chung', 'Youngil Youm', 'Beom Hee Lee']
I am writing a research paper on a idea Real-time ZMP compensation method using null motion for mobile manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Real-time ZMP compensation method using null motion for mobile manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system,  define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study."}]